This article mainly introduces how to adjust vision parameters according to actual scenarios in cylinder-based ordered loading and unloading and random picking.

1. 2D Recognition

1.1 Preprocessing

The preprocessing for 2D recognition is to process the 2D image before Instance Segmentation.

1.1.1 Bilateral Filtering

• Function

Image smoothing based on bilateral filtering.

• Parameter Description

Parameter	Description	Default Value	Value Range
Maximum Depth Difference	The maximum depth difference for bilateral filtering	0.03	[0.01, 1]
Filter Kernel Size	The convolution kernel size for bilateral filtering	7	[1, 3000]

1.1.2 Convert Depth to Normal Map

• Function

Calculate the pixel normals from the depth map and convert the image into a normal map.

1.1.3 Image Enhancement

• Function

Common image enhancement operations, such as color saturation, contrast, brightness, and sharpness.

• Parameter Description

Parameter	Description	Default Value	Value Range
Image Enhancement Type	Enhance a specific element of the image	Contrast	Color saturation, contrast, brightness, sharpness
Image Enhancement Threshold	How much to enhance a specific element of the image	1.5	[0.1, 100]

1.1.4 Histogram Equalization

• Function

Improve image contrast.

• Parameter Description

Parameter	Description	Default Value	Value Range
Local Mode	Local or global histogram equalization. When selected, local histogram equalization is used; when cleared, global histogram equalization is used.	Selected	/
Contrast Threshold	Contrast threshold	3	[1,1000]

1.1.5 Filter the Depth Map by Color

• Function

Filter the depth map based on color values.

• Parameter Description

Parameter	Description	Default Value	Value Range
Fill Kernel Size	The size of color filling	3	[1,99]
Filter Depth by HSV - Maximum Color Range Value	Maximum color value	[180,255,255]	[[0,0,0],[255,255,255]]
Filter Depth by HSV - Minimum Color Range Value	Minimum color value	[0,0,0]	[[0,0,0],[255,255,255]]
Keep the Area Within the Color Range	When selected, the area within the color range is kept; when cleared, the area outside the color range is kept.	/	/

1.1.6 Gamma Image Correction

• Function

Gamma correction changes image brightness.

• Parameter Description

Parameter	Description	Default Value	Value Range
Gamma Compensation Coefficient	When this value is less than 1, the image becomes darker; when it is greater than 1, the image varies.	1	[0.1,100]
Gamma Correction Coefficient	When this value is less than 1, the image becomes darker and is suitable for overly bright images; when it is greater than 1, the image becomes brighter and is suitable for overly dark images.	2.2	[0.1,100]

1.1.7 Fill Depth Map Holes

• Function

Fill the hole areas in the depth map and smooth the filled depth map.

• Usage Scenario

Due to issues such as structural occlusion of the workpiece itself and uneven lighting, the depth map may be missing partial areas of the workpiece.

• Parameter Description

Parameter	Description	Default Value	Value Range
Fill Kernel Size	The size of hole filling	3	[1,99]

The fill kernel size can only be an odd number.

• Parameter Adjustment

Adjust according to the detection result. If the filling is excessive, decrease the parameter; if the filling is insufficient, increase the parameter.

• Example

1.1.8 Edge Enhancement

• Function

Set the edge areas of texture in the image to the Background color or a color with a large difference from the Background color, so as to highlight the edge information of the workpiece.

• Usage Scenario

The edges are unclear because workpieces occlude or overlap each other.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Parameter Adjustment Suggestion
Normal Z-direction Filtering Threshold	The filtering threshold for the angle between the normal vector corresponding to each point in the depth map and the positive Z-axis direction of the camera coordinate system. If the angle between a point's normal vector and the positive Z-axis direction of the camera coordinate system is greater than this threshold, the color at the corresponding position of that point in the 2D image will be set to the Background color or a color with a large difference from the Background color.	30	[0,180]	For flat workpiece surfaces, this threshold can be smaller; for curved workpieces, increase it appropriately according to the surface inclination.
Background Color	The RGB color threshold of the Background	128	[0,255]	/
Automatically Adjust Contrast Background	Selected After Automatically Adjust Contrast Background is enabled, the colors of points in the 2D image whose angles are greater than the filtering threshold are set to a color with a large difference from the Background color. Not selected After Automatically Adjust Contrast Background is disabled, the colors of points in the 2D image whose angles are greater than the filtering threshold are set to the color corresponding to the Background color.	Not selected	/	/

• Example

1.1.9 Extract the Topmost Texture

• Function

Extract the texture of the topmost or bottommost workpiece, while setting the other areas to the Background color or a color with a large difference from the Background color.

• Usage Scenario

Factors such as poor lighting conditions, similar color textures, tight stacking, interleaved stacking, or occlusion may make it difficult for the model to distinguish texture differences between the upper and lower workpieces, making false detection likely.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Parameter Adjustment Suggestion
Distance Threshold (mm)	If the distance between a point and the topmost plane (bottommost plane) is lower than this threshold, the point is considered to be within the topmost plane (bottommost plane) and should be kept; otherwise, it is considered to be a point in the lower layer (upper layer), and the color of the point in the lower layer (upper layer) is set to the Background color or a color with a large difference from the Background color.	50	[0.1, 1000]	mm	Generally adjust it to 1/2 of the workpiece height.
Clustered Point Cloud Quantity	The expected number of points participating in clustering, that is, the number of sampled Point Cloud points in the ROI 3D area	10000	[1，10000000]	/	The larger the Clustered Point Cloud Quantity, the slower the model Inference speed but the higher the accuracy; the smaller the Clustered Point Cloud Quantity, the faster the model Inference speed but the lower the accuracy.
Minimum Number of Category Points	The minimum number of points used to filter categories	1000	[1, 10000000]	/	/
Automatically Calculate Contrast Background	Selected After Automatically Calculate Contrast Background is enabled, areas outside the topmost layer (bottommost layer) in the 2D image are set to a color with a large difference from the Background color threshold. Not selected After Automatically Calculate Contrast Background is disabled, areas outside the topmost layer (bottommost layer) in the 2D image are set to the color corresponding to the Background color threshold.	Selected	/	/	/
Background Color Threshold	Background RGB color threshold	128	[0,255]	/	/

• Example

1.1.10 Remove the Image Background Outside ROI3D

• Function

Remove the background in the 2D image except for the ROI3D area.

• Usage Scenario

Too much image background noise affects the detection result.

• Parameter Description

Parameter Name	Description	Default Value	Value Range
Fill Kernel Size	The size of hole filling	5	[1,99]
Number of Iterations	The number of image dilation iterations	1	[1,99]
Automatically Calculate Contrast Background	Selected After Automatically Calculate Contrast Background is enabled, the area outside the roi in the 2D image is set to a color with a large difference from the Background color threshold. Not selected After Automatically Calculate Contrast Background is disabled, the area outside the roi in the 2D image is set to the color corresponding to the Background color threshold.	Selected	/
Background Color Threshold	The RGB color threshold of the Background	128	[0,255]

The fill kernel size can only be an odd number.

• Parameter Adjustment

If more background noise needs to be removed from the image, decrease the Fill Kernel Size.

• Example

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1.2 Instance Segmentation

1.2.1 Scaling Ratio

• Function

Scale the original image proportionally before Inference to improve the accuracy and recall of 2D recognition.

• Usage Scenario

If the detection effect is poor (for example, no instance is detected, instances are missed, a bounding box covers multiple instances, or a bounding box does not fully cover an instance), this function should be adjusted.

• Parameter Description

  • Default Value: 1.0

  • Value Range: [0.01, 3.00]

  • Step Size: 0.01

• Parameter Adjustment

  • Run with the default value and check the detection result in the visualization window. If no instance is detected, instances are missed, a bounding box covers multiple instances, or a bounding box does not fully cover an instance, this function should be adjusted.

  • In 2D recognition, the percentage on an instance is the Confidence score, and the number is the instance ID (the recognition order of the instance).

  • In 2D recognition, the colored shaded area on the instance is the Mask, and the rectangular box surrounding the instance is the bounding box.

  • Try different scaling ratios, observe changes in the detection result, and gradually determine the scaling ratio range. If the detection effect improves significantly at a certain scaling ratio, use that scaling ratio as the lower limit; if the detection effect decreases significantly at a certain scaling ratio, use that scaling ratio as the upper limit.

  If no satisfactory detection result can be obtained after trying all scaling ratios, adjust the ROI area.

  As shown in the figure below, when the scaling ratio is 0.8, the detection effect improves significantly, so 0.8 can be determined as the lower limit of the scaling ratio range.

  When the scaling ratio is 1.2, the detection effect decreases significantly, so 1.2 can be determined as the upper limit of the scaling ratio range.

  • If the actual scenario does not require high picking accuracy, you can select a scaling ratio with a better detection effect within the [0.8,1.2] interval; if the actual scenario requires high picking accuracy, you should further refine the scaling ratio range and adjust it with a smaller step size until the scaling ratio with the best detection effect is found.

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1.2.2 Lower Confidence Threshold

• Function

Keep only the recognition results whose scores from the Deep Learning model are higher than the lower Confidence threshold.

• Usage Scenario

If the instances selected by the detection result do not meet expectations, this function can be adjusted.

• Parameter Description

Default Value: 0.5

Value Range: [0.01, 1.00]

• Parameter Adjustment

  • If the model detects too few instances, decrease this threshold; if the value is too small, the accuracy of image recognition may be affected.

  • If an excessively small lower Confidence threshold causes incorrect instances to be detected and these incorrect instances need to be removed, increase this threshold; if the value is too large, the number of retained detection results may become zero and no results will be output.

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1.2.3 Enable Auto Enhancement

• Function

Combine all values in the input scaling ratios and rotation angles for Inference, and return all results above the configured lower Confidence threshold after combination, which can improve model Inference accuracy, but will increase the time consumed.

• Usage Scenario

A single scaling ratio cannot meet actual scenario requirements, resulting in incomplete detection or a large object placement inclination.

• Example

If Auto Enhancement - Scaling Ratio is set to [0.8, 0.9, 1.0], and Auto Enhancement - Rotation Angle is set to [0, 90.0] , the values in the scaling ratios and rotation angles will be combined pairwise. The model automatically generates 6 images internally for Inference, then merges these 6 Inference results and outputs the results greater than the lower Confidence threshold.

Auto Enhancement - Scaling Ratio

• Function

Scale the original image multiple times and run Inference multiple times to output comprehensive Inference results.

• Usage Scenario

A single scaling ratio cannot meet actual scenario requirements, resulting in incomplete detection.

• Parameter Description

Default Value: [1.0]

Value Range: the range of each scaling ratio is [0.1, 3.0]

Multiple scaling ratios can be set, separated by English commas.

• Parameter Adjustment

Enter multiple scaling ratios from 1.2.1 Scaling Ratio that produce good detection results.

Auto Enhancement - Rotation Angle

• Function

Rotate the original image multiple times and run Inference multiple times to output comprehensive Inference results.

• Usage Scenario

Use when the object placement deviates significantly from the coordinate axes.

• Parameter Description

Default Value: [0.0]

Value Range: the value range of each rotation angle is [0, 360]

Multiple rotation angles can be set, separated by English commas.

• Parameter Adjustment

Adjust Auto Enhancement - Rotation Angle according to the object angle in the actual scenario. The inclination angle can be judged based on sack patterns and bag opening shapes, or carton edges and brand logos.

1.3 Point Cloud Generation

Instance Point Cloud Generation Mode	Mask Mode (After Segmentation)	-	Generate a Point Cloud using the segmented instance Mask
	Bounding Box Mode (After Segmentation)	Bounding Box Scaling Ratio (After Segmentation)	Generate a Point Cloud using the segmented instance bounding box
		Whether Color Is Required When Generating the Point Cloud (After Segmentation)	Whether the generated instance Point Cloud needs attached colors
	Mask Mode (After Filtering)	-	Generate a Point Cloud using the filtered instance Mask
	Bounding Box Mode (After Filtering)	Bounding Box Scaling Ratio (After Filtering)	Generate a Point Cloud using the filtered instance bounding box
		Whether Color Is Required When Generating the Point Cloud (After Filtering)	Whether the generated instance Point Cloud needs attached colors

If acceleration is not required, there is no need to use the Instance Filtering function. Use Mask Mode (After Segmentation) or Bounding Box Mode (After Segmentation) to generate the instance Point Cloud, which can be viewed under the project storage folder at \Project Name\data\PickLight\Historical Data Timestamp\Builder\pose\input folder to view the generated instance point cloud.

If acceleration is required, you can use the Instance Filtering function to filter instances. Use Mask Mode (After Filtering) or Bounding Box Mode (After Filtering) to generate the instance Point Cloud, which can be viewed under the project storage folder at \Project Name\data\PickLight\Historical Data Timestamp\Builder\pose\input folder to view the generated instance point cloud.

1.4 Instance Filtering

1.4.1 Filter Based on Bounding Box Area

• Function Introduction

Filter based on the pixel area of the bounding box of detected instances.

• Usage Scenario

Applicable to scenarios where instance bounding box areas vary greatly. By setting the upper and lower limits of the bounding box area, noise in the image can be filtered out, improving image recognition accuracy and avoiding extra time consumption in subsequent processing caused by noise.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Minimum Area (Pixels)	This parameter is used to set the minimum filtering area of the bounding box. Instances whose bounding box area is lower than this value will be filtered out.	1	[1, 10000000]	Pixels
Maximum Area (Pixels)	This parameter is used to set the maximum filtering area of the bounding box. Instances whose bounding box area is higher than this value will be filtered out.	10000000	[2, 10000000]	Pixels

• Example

Run with the default value, and you can view the bounding box area of each instance in the log, as shown below.

Adjust **Minimum Area ** and Maximum Area according to the bounding box area of each instance. For example, set Minimum Area to 20000 and Maximum Area to 30000 to filter out instances whose pixel area is less than 20000 or greater than 30000. The instance filtering process can be viewed in the log.

1.4.2 Filter Based on Bounding Box Aspect Ratio

• Function Introduction

Instances whose bounding box aspect ratios are outside the specified range will be filtered out.

• Usage Scenario

Applicable to scenarios where the aspect ratios of instance bounding boxes vary greatly.

• Parameter Description

Parameter	Description	Default Value	Parameter Range
Minimum Aspect Ratio	The minimum value of the bounding box aspect ratio. Instances whose bounding box aspect ratio is lower than this value will be filtered out.	0	[0, 10000000]
Maximum Aspect Ratio	The maximum value of the bounding box aspect ratio. Instances whose bounding box aspect ratio is higher than this value will be filtered out.	10000000	[0, 10000000]
Use X/Y-axis Side Lengths as the Aspect Ratio	By default, this option is not selected, and the ratio of the longer side to the shorter side of the bounding box is used as the aspect ratio, which is suitable for cases where the longer and shorter sides of the bounding box differ greatly in length; After it is selected, the ratio of the lengths of the bounding box sides along the X-axis/Y-axis in the pixel coordinate system is used as the aspect ratio, which is suitable for cases where the long-side/short-side ratios of most normal instance bounding boxes are similar, but some abnormally recognized instance bounding boxes have large differences between the ratio of their X-axis length and Y-axis length.	Not selected	/

1.4.3 Filter Instances by Category ID

• Function Introduction

Filter based on instance categories.

• Usage Scenario

Applicable to scenarios where the incoming material contains multiple types of workpieces.

• Parameter Description

Parameter	Description	Default Value
Retained Category IDs	Keep instances whose category IDs are in the list; instances whose category IDs are not in the list will be filtered out.	[0]

• Example

1.4.4 Filter Based on Edge Lengths of Instance Point Clouds

• Function Introduction

Filter based on the long side and short side of the instance Point Cloud.

• Usage Scenario

Applicable to scenarios where the distances of the instance Point Cloud on the x-axis or y-axis vary greatly. By setting the distance range of the instance Point Cloud, noise in the image can be filtered out, improving image recognition accuracy and avoiding extra time consumption in subsequent processing caused by noise.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Short-side Length Range (mm)	The edge length range of the short side of the Point Cloud	[0, 10000]	[0, 10000]	mm
Long-side Length Range (mm)	The edge length range of the long side of the Point Cloud	[0, 10000]	[0, 10000]	mm
Lower Edge Denoising Limit (%)	Extract the lower percentage limit of the X/Y values (camera coordinate system) in the instance Point Cloud, and remove the Point Cloud outside the upper and lower limits to prevent noise from affecting length calculation.	5	[0, 100]	/
Upper Edge Denoising Limit (%)	Extract the upper percentage limit of the X/Y values (camera coordinate system) in the instance Point Cloud, and remove the Point Cloud outside the upper and lower limits to prevent noise from affecting length calculation.	95	[0, 100]	/
Edge Length Type	Filter by the long side and short side of the instance Point Cloud. Instances whose long-side and short-side lengths are outside the range will be filtered out.	Instance Point Cloud Short Side	Instance Point Cloud Short Side; Instance Point Cloud Long Side; Instance Point Cloud Long Side and Short Side	/

• Example

1.4.5 Category ID Filtering Based on Classifier

• Function Introduction

Filter instances based on the classifier's category ID. Instances that are not in the reference categories will be filtered out.

• Usage Scenario

In multi-category workpiece scenarios, the vision model may detect multiple types of workpieces, but the actual task may require only one specific category of workpiece. In this case, this function can be used to filter out unnecessary workpieces.

• Parameter Description

The default value is [0], which means instances with category ID 0 are retained by default. Instances whose category IDs are not in the list will be filtered out.

1.4.6 Filter Based on Three-channel Color

• Function Introduction

Instances can be filtered out using three-channel color thresholds (HSV or RGB).

• Usage Scenario

Cases where incorrect instances and correct instances have obvious color differences.

• Parameter Description

Parameter	Description	Default Value	Value Range
Maximum Color Range Value	Maximum color value	[180,255,255]	[[0,0,0],[255,255,255]]
Minimum Color Range Value	Minimum color value	[0,0,0]	[[0,0,0],[255,255,255]]
Filtering Percentage Threshold	Color pass-rate threshold	0.05	[0,1]
Reverse Filtering	When selected, instances whose proportion outside the color range is lower than the threshold are removed; when cleared, instances whose proportion within the color range in the instance image is lower than the threshold are removed.	Not selected	/
Color Mode	The color space selected in color filtering	HSV Color Space	RGB Color SpaceHSV Color Space

• Example

1.4.7 Filter Based on Confidence

• Function Introduction

Filter based on the Confidence score of instances.

• Usage Scenario

Applicable to scenarios where the Confidence values of instances vary greatly.

• Parameter Description

Parameter	Description	Default Value	Parameter Range
Reference Confidence	Keep instances with Confidence greater than the threshold, and filter out instances with Confidence lower than the threshold.	0.5	[0,1]
Reverse Filtering Result	After reversal, retain instances whose visibility Confidence is lower than the threshold, and filter out instances whose Confidence is greater than the threshold.	Not selected	/

• Example

1.4.8 Filter Based on Point Cloud Quantity

• Function Introduction

Filter based on the number of downsampled instance Point Cloud points.

• Usage Scenario

The instance Point Cloud contains a large amount of noise.

• Parameter Description

Parameter	Description	Default Value	Parameter Range
Minimum Point Cloud Quantity	Minimum value of the Point Cloud quantity	3500	[1, 10000000]
Maximum Point Cloud Quantity	Maximum value of the Point Cloud quantity	8500	[2, 10000000]
Filter Instances Whose Quantity Is Within the Interval	When selected, filter out instances whose Point Cloud quantity is between the minimum and maximum values; when cleared, filter out instances whose Point Cloud quantity is not within the interval.	Not selected	/

1.4.9 Filter Based on Mask Area

• Function Introduction

Filter image Masks based on the sum of Mask pixels (that is, the pixel area) of detected instances.

• Usage Scenario

Applicable to scenarios where instance Mask areas vary greatly. By setting the upper and lower limits of the Mask area, noise in the image Mask can be filtered out, improving image recognition accuracy and avoiding extra time consumption in subsequent processing caused by noise.

• Parameter Setting Description

Parameter Name	Description	Default Value	Parameter Range	Unit
Reference Minimum Area	This parameter is used to set the minimum filtering area of the Mask. Instances whose Mask area is lower than this value will be filtered out.	1	[1, 10000000]	Pixels
Reference Maximum Area	This parameter is used to set the maximum filtering area of the Mask. Instances whose Mask area is higher than this value will be filtered out.	10000000	[2, 10000000]	Pixels

• Example

1.4.10 Filter Based on Visibility

• Function Introduction

Filter based on the visibility score of instances.

• Usage Scenario

Applicable to scenarios where the visibility values of instances vary greatly.

• Parameter Description

Parameter	Description	Default Value	Parameter Range
Reference Visibility Threshold	Keep instances whose visibility is greater than the threshold, and filter out instances whose visibility is lower than the threshold. Visibility is used to determine how visible an instance is in the image. The more the workpiece is occluded, the lower the visibility.	0.5	[0,1]
Reverse Filtering Result	After reversal, retain instances whose visibility is lower than the threshold, and filter out instances whose visibility is greater than the threshold.	Not selected	/

1.4.11 Filter Instances with Overlapping Bounding Boxes

• Function Introduction

Filter instances whose bounding boxes intersect and overlap.

• Usage Scenario

Applicable to scenarios where instance bounding boxes intersect with each other.

• Parameter Description

Parameter	Description	Default Value	Parameter Range
Bounding Box Overlap Ratio Threshold	The ratio threshold of the intersection area of bounding boxes to the area of the instance bounding box	0.05	[0, 1]
Filter Instances with Larger Bounding Box Areas	When selected, filter out the instance with the larger area among two instances whose bounding boxes intersect; when cleared, filter out the instance with the smaller area among two instances whose bounding boxes intersect.	Selected	/

• Example

Added Filter enclosed instances. Run with the default value and view the intersection of instance bounding boxes in the log. After instance filtering, 2 instances remain.

According to the log, 12 instances were filtered out because their bounding boxes intersected, leaving 2 instances whose bounding boxes do not intersect.

Set Bounding Box Overlap Ratio Threshold to 0.1 and select Whether to Filter Larger Instances. View the instance filtering process in the log. 9 instances were filtered out because the ratio of the intersection area of the bounding boxes to the instance bounding box area was greater than 0.1, 3 instances were retained because the ratio was less than 0.1, and 2 instances had no bounding box intersections.

Set Bounding Box Overlap Ratio Threshold to 0.1 and clear Whether to Filter Larger Instances. View the instance filtering process in the log. The ratio of the intersection area of the bounding boxes to the instance bounding box area for 9 instances was greater than 0.1, but 2 of those instances were retained because their bounding box area was smaller than that of the intersecting instance, so 7 instances were filtered out. 3 instances were retained because the ratio of the intersection area of the bounding boxes to the instance bounding box area was less than 0.1, and 2 instances had no bounding box intersections.

1.4.12 [Expert] Filter Instances with Uneven Masks Based on the Area Ratio of Mask/Bounding Polygon of the Mask

• Function Introduction

Calculate the area ratio of the Mask to the bounding polygon of the Mask. If the ratio is lower than the configured threshold, the instance will be filtered out.

• Usage Scenario

Applicable when the workpiece Mask has jagged edges / uneven protrusions and indentations.

• Parameter Description

Parameter	Description	Default Value	Value Range
Area Ratio Threshold	The Mask/convex hull area ratio threshold. If the ratio is lower than the configured threshold, the instance will be filtered out.	0.1	[0,1]

1.4.13 [Expert] Filter Based on Average Point Cloud Distance

• Function Introduction

Filter based on the average distance from points in the Point Cloud to the fitted plane, and remove uneven instance Point Clouds.

• Usage Scenario

Applicable to scenarios where the Point Cloud of planar workpieces is bent.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Plane Segmentation Distance Threshold (mm)	Extract a plane from the bent instance Point Cloud. Points whose distance to the plane is less than this threshold are regarded as points on that plane.	10	[-1000, 1000]	mm
Average Distance Threshold (mm)	The average value of distances from points in the instance Point Cloud to the extracted plane	20	[-1000, 1000]	mm
Remove Instances Whose Average Distance Is Less Than the Threshold	When selected, filter out instances whose average distance from points to the extracted plane is less than the average distance threshold; when cleared, filter out instances whose average distance from points to the extracted plane is greater than the average distance threshold.	Not selected	/	/

1.4.14 [Expert] Filter Occluded Instances Based on the Area Ratio of Mask/Bounding Box

• Function Introduction

Calculate the Mask/bounding box area ratio. Instances whose ratios are outside the minimum and maximum range will be filtered out.

• Usage Scenario

Used to filter instances of occluded workpieces.

• Parameter Description

Conversely, it indicates possible occlusion.

Parameter	Description	Default Value	Value Range
Minimum Area Ratio	Lower limit of the Mask/bounding box area ratio range. The smaller the ratio, the more severely the instance is occluded.	0.1	[0,1]
Maximum Area Ratio	Upper limit of the Mask/bounding box area ratio range. The closer the ratio is to 1, the less the instance is occluded.	1.0	[0,1]

1.4.15 [Expert] Determine Whether All Topmost Instances Have Been Fully Detected

• Function Introduction

One of the foolproof mechanisms: determine whether all topmost instances have been fully detected. If any topmost instance has not been detected, an error will be reported and the Workflow will end.

• Usage Scenario

Applicable to scenarios where one capture is used for multiple picks or picking must be performed in sequence, to prevent missed picks caused by incomplete instance detection from affecting subsequent tasks.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Parameter Adjustment
Distance Threshold	Used to determine the topmost workpiece. If the distance between a point and the highest point of the workpiece Point Cloud is less than the distance threshold, the point is considered part of the topmost Point Cloud; otherwise, it is not considered part of the topmost Point Cloud.	5	[0.1, 1000]	mm	It should be smaller than the height of the workpiece.

1.5 Instance Sorting

• Function Introduction

Group, sort, and extract instances according to the selected strategy.

• Usage Scenario

Universal for depalletizing, random picking, and ordered loading and unloading scenarios.

If sorting is not required, no specific strategy needs to be configured.

1.5.1 Reference Coordinate System

• Function Introduction

Set a unified coordinate system for all instances for instance grouping and sorting.

• Usage Scenario

Universal for depalletizing scenarios, random picking scenarios, and ordered loading and unloading scenarios.

A reference coordinate system should be configured first when using coordinate-related strategies.

• Parameter Description

Parameter	Description	Illustration
Camera Coordinate System	The origin of the coordinate system is above the object, and the positive Z-axis direction points downward; the XYZ values are the values of the object center point in this coordinate system.
ROI Coordinate System	The origin of the coordinate system is approximately at the center of the stack, and the positive Z-axis direction points upward; the XYZ values are the values of the object center point in this coordinate system.
Robot Coordinate System	The origin of the coordinate system is on the robot itself, and the positive Z-axis direction generally points upward; the XYZ values are the values of the object center point in this coordinate system.
Pixel Coordinate System	The origin of the coordinate system is at the upper-left vertex of the RGB image and is a two-dimensional plane coordinate system; the X and Y values are the x value and y value of the bbox recognition box, and Z is 0.

1.5.2 General Grasping Strategy

• Parameter Description

Parameter	Description	Default Value
Strategy	Select the value used for grouping and sorting and how to sort, including values such as the XYZ coordinates of the instance Point Cloud center, the bounding box aspect ratio, and the distance from the instance Point Cloud center to the ROI center. Multiple strategies can be superimposed and are executed in sequence.	Instance Point Cloud Center X Coordinate from Small to Large (mm)
Grouping Step Size	According to the selected strategy, instances are divided into several groups based on the step size. The grouping step size is the interval between two groups of instances. For example, if the strategy is set to "Instance Point Cloud Center Z Coordinate from Large to Small (mm)", then the Z coordinates of all instance Point Cloud centers are sorted from large to small and grouped according to the step size, and the corresponding instances are also divided into several groups.	/
Number of Leading Groups to Extract	How many groups of instances need to be retained after grouping and sorting	10000

Strategy Name*	Description	Grouping Step Size		Number of Leading Groups to Extract
		Default Value	Value Range	Default Value
Instance Point Cloud Center XYZ Coordinate Value from Large to Small / from Small to Large (mm)	Use the XYZ coordinate values of each instance's Point Cloud center for grouping and sorting The reference coordinate system should be set before sorting with this strategy	200.000	(0, 10000000]	10000
From the Middle to Both Sides Along the XY Coordinate Axis of the Instance Point Cloud Center / From Both Sides to the Middle Along the XY Coordinate Axis of the Instance Point Cloud Center (mm)	Use the XY coordinate values of each instance's Point Cloud center for grouping and sorting in the direction of "from the middle to both sides" or "from both sides to the middle" The reference coordinate system should be set before sorting with this strategy	200.000	(0, 10000000]	10000
Bounding Box Center XY Coordinate Value from Large to Small / from Small to Large (mm)	Use the XY coordinate values of each instance's bounding box center point in the pixel coordinate system for grouping and sorting	200.000	(0, 10000000]	10000
Bounding Box Aspect Ratio from Large to Small / from Small to Large	Use the ratio of the bounding box long side to short side for grouping and sorting	1	(0, 10000]	10000
From the Middle to Both Sides Along the XY Coordinate Axis of the Bounding Box Center / from Both Sides to the Middle (mm)	Use the XY coordinate values of the bounding box center point for grouping and sorting in the direction of "from the middle to both sides" or "from both sides to the middle"	200.000	(0, 10000000]	10000
Workpiece Type ID from Large to Small / from Small to Large	Use the ID of the workpiece type for grouping and sorting, applicable to multi-category workpiece scenarios	1	[1, 10000]	10000
Local Feature ID from Large to Small / from Small to Large	Use the ID of the local feature for grouping and sorting	1	[1, 10000]	10000
Confidence from Large to Small / from Small to Large	Use the Confidence of each instance for grouping and sorting	1	(0, 1]	10000
Visibility from Small to Large / from Large to Small	Use the visibility of each instance for grouping and sorting	1	(0, 0.1]	10000
Mask Area from Large to Small / from Small to Large	Use the Mask area of each instance for grouping and sorting	10000	[1, 10000000]	10000
Distance from Instance Point Cloud Center to ROI Center from Near to Far / from Far to Near (mm)	Use the distance between each instance's Point Cloud center and the center of the ROI coordinate system for grouping and sorting	200.000	(0, 10000000]	10000
Distance from Instance Point Cloud Center to Robot Coordinate Origin from Near to Far / from Far to Near (mm)	Use the distance between each instance's Point Cloud center and the origin of the Robot coordinate system for grouping and sorting	200.000	(0, 10000000]	10000

• Example

1.5.3 Custom Grasping Strategy

(1) Function Description

Switch Grasping Strategy to Custom Grasping Strategy, then click Add to add a custom grasping strategy.

• Customize the picking order for each workpiece. If it is difficult to achieve picking with a general grasping strategy, or if it is difficult to tune suitable parameters due to Point Cloud noise and other issues, you can consider using a custom grasping strategy.

• Custom grasping strategies are suitable for depalletizing scenarios and ordered loading and unloading scenarios, but not for random picking scenarios, because the workpieces in a custom grasping strategy must be ordered (that is, the sequence of workpieces is fixed).

• A custom grasping strategy can only be used in combination with a single general grasping strategy, and the strategy can only be selected as the Z coordinate from small to large.

(2) Parameter Description

Parameter	Description	Default Value	Value Range	Parameter Adjustment
IOU Threshold	Represents the overlap threshold between the annotated bbox and the detected bbox. The overlap is used to determine which image's sorting method should be selected for sorting the current workpiece instance.	0.7	[0,1]	The larger the threshold, the stricter the matching and the worse the anti-interference capability. Small changes in shape or position may cause matching failure, which may match the wrong custom strategy and sort in the wrong order.
Pixel Distance Threshold	Represents the size difference between the bbox that can be matched and the detected bbox.	100	[0,1000]	The smaller the threshold, the stricter the matching and the better the anti-interference capability. If the workpiece placement between different layers is relatively similar, the custom strategy may also be mismatched, causing an incorrect sorting order.

(3) Select the Reference Coordinate System

When using a custom grasping strategy, only the camera coordinate system or pixel coordinate system can be selected.

If there are multiple layers of workpieces, select the camera coordinate system; if there is only one layer of workpieces, select the pixel coordinate system.

(4) Strategy, Grouping Step Size, and Number of Leading Groups to Extract

Parameter	Description	Default Value
Strategy	Only Instance Point Cloud Center Z Coordinate Value from Large to Small / from Small to Large (mm) can be selected	/
Grouping Step Size	According to the strategy of sorting Z coordinates from small to large, the Z coordinates of instances are sorted from small to large, and the instances are divided into several groups according to the step size.	10000
Number of Leading Groups to Extract	How many groups of instances need to be retained after grouping and sorting	10000

(5) Capture Image / Add Local Image

Click Capture Image to obtain an image from the currently connected Camera, or click Add Local Image to import an image locally. You need to capture or add as many images as there are layers or different placement forms of workpieces. If every layer is the same, only one image is needed. Right-click the image to delete it.

On the obtained image, click and hold the left mouse button and drag to annotate the bbox. Press the DELETE key to delete the annotated bbox step by step.

2. 3D Calculation

2.1 Preprocessing

The preprocessing of 3D calculation is to process the 3D Point Cloud before the Deep Learning model performs calculation.

2.1.1 Point Cloud Clustering Denoising

• Function

Remove noise by Point Cloud clustering.

• Usage Scenario

There is a large amount of noise in the instance Point Cloud.

• Parameter Description

Parameter Name	Description	Default Value	Value Range	Unit	Parameter Adjustment Suggestion
Distance Threshold for Point Cloud Clustering (mm)	Determine whether Point Clouds in space belong to the same category. If the distance between Point Clouds is lower than this threshold, they are considered the same category.	5	[0.1, 1000]	mm	Generally no change is needed. It should be greater than the point spacing of the workpiece Point Cloud and smaller than the minimum distance between the workpiece Point Cloud and the noise Point Cloud.
Minimum Point Count Threshold	Point Cloud clusters with fewer points than this count will be filtered out.	100	[1,10000000]	/	Generally no change is needed. Increase the Minimum Point Count Threshold according to the noise level in the instance Point Cloud.
Maximum Point Count Threshold	Point Cloud clusters with more points than this count will be filtered out.	100000	[1,10000000]	/	Generally no change is needed. If the number of workpiece Point Cloud points is greater than 100000, increase the Maximum Point Count Threshold.
Whether to Select the ROI Top Point Cloud	When selected, the average Z coordinate of the same category of Point Cloud in the ROI coordinate system is calculated and sorted, and the Point Cloud category with the largest average Z coordinate (top Point Cloud) is retained. When cleared, all Point Clouds meeting the conditions are retained.	Not selected	/	/	If the workpiece Point Cloud is above the noise Point Cloud, selecting this option will retain the workpiece Point Cloud; if the workpiece Point Cloud is below the noise Point Cloud, the Z-axis of the ROI coordinate system should be adjusted downward while selecting this option to retain the workpiece Point Cloud.
Whether to Visualize Process Data	When selected, the denoised Point Cloud is saved and can be viewed in C:_data	Not selected	/	/	In debug mode, select this option if you need to save visualization data.

• Example

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2.1.2 Point Cloud Downsampling

• Function

Sample the Point Cloud according to the specified point spacing during downsampling.

• Usage Scenario

This should be selected when large Camera precision causes the instance Point Cloud quantity to become too large and the log reports the error "The instance Point Cloud quantity input for pose estimation exceeds the PMFE algorithm limit".

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Point Spacing for Downsampling (mm)	Sample the Point Cloud according to the specified point spacing	5.0	[0.1, 1000]	mm

• Parameter Adjustment

  • Set according to the point spacing of the instance Point Cloud. The larger the value, the fewer Point Cloud points remain after downsampling.

2.1.3 Calculate Normal Vectors

• Function

Calculate Point Cloud normal vectors for subsequent use in the cylinder fitting process.

• Usage Scenario

Cylinder-based ordered loading and unloading, and cylinder-based random picking.

• Parameter Description

Parameter Name	Description	Default Value	Value Range
Fix Normal Orientation	Whether to fix the orientation when calculating normal vectors. After this option is enabled, the normal vector orientation is determined by the reference orientation vector.	Selected	/
Neighbor Point Count for Normal Calculation	The larger the value, the more neighboring points are referenced, but local changes may be ignored; the smaller the value, the opposite applies.	30	[1,200]
Reference Orientation Vector	The reference orientation vector used for normal calculation	[0,0,1]	/

• Parameter Adjustment

Cannot be changed.

2.1.4 Point Cloud Contour Extraction

• Function

Extract the contour of the workpiece from the instance Point Cloud.

• Usage Scenario

When using 2.1.5 **Use Contour Mode **, Point Cloud Contour Extraction should also be selected.

• Parameter Description

Parameter Name	Description	Default Value	Value Range	Unit	Parameter Adjustment Suggestion
Reference Radius (mm)	The search radius for extracting contours in the instance Point Cloud	10	[0.1,10000000000]	mm	The reference radius is recommended to be set to 1/2 of the downsampling point spacing in 2.1.2Point Cloud Downsampling, and it must be greater than the Point Cloud spacing.

• Example

2.1.5 Filter Point Clouds by HSV Color Range (Hue, Saturation, Value)

• Function

Filter the Point Cloud by hue, saturation, and value in the Point Cloud image to screen out Point Cloud regions that match the target range.

• Parameter Description

Parameter Name	Description	Default Value	Value Range
Filter Depth by HSV - Maximum Color Range Value	Maximum color value for filtering the Point Cloud	[0.9,0.9,0.9]	[[0,0,0],[1,1,1]]
Filter Depth by HSV - Minimum Color Range Value	Minimum color value for filtering the Point Cloud	[0.0,0.0,0.0]	[[0,0,0],[1,1,1]]

• Example

2.1.6 Filter Point Clouds by Three-channel Color

• Function

Filter the Point Cloud by three-channel color to screen out Point Cloud regions that match the target range.

• Parameter Description

Parameter Name	Description	Default Value	Value Range
Filter Point Cloud by Three-channel Color - Maximum Color Value	Maximum color value for filtering the Point Cloud	[0.9,0.9,0.9]	[[0,0,0],[1,1,1]]
Filter Depth by Three-channel Color - Minimum Color Value	Minimum color value for filtering the Point Cloud	[0.0,0.0,0.0]	[[0,0,0],[1,1,1]]

• Example

2.1.7 Select Point Clouds Within the ROI Area

• Function

Select Point Cloud data within the ROI 3D area from the instance Point Cloud. This default function cannot be deleted.

• Example

2.1.8 Remove Points Whose Normals Exceed the Angle Threshold

• Function

Remove Point Cloud points whose angle between the normal vector and the standard normal vector axis is greater than the normal vector angle threshold.

• Usage Scenario

Cylinder-based random picking and cylinder-based ordered loading and unloading.

• Parameter Description

Parameter Name	Description	Default Value	Value Range	Unit
Angle Threshold	Point Clouds with angles greater than this angle threshold are considered different instances	15	[-360, 360]	/
Standard Normal Vector Axis	The angle formed between the Point Cloud normal vector and the standard normal vector axis	Z-axis	X/Y/Z-axis	/
Whether to Use the ROI Coordinate System	When selected, calculate the angle between the normal vector and the axis of the ROI coordinate system; when cleared, calculate the angle between the normal vector and the axis of the camera coordinate system.	Not selected	/	/

• Parameter Adjustment

2.1.9 Point Cloud Plane Segmentation

• Function

Retain or remove the plane with the largest number of Point Cloud points in the instance Point Cloud.

• Usage Scenario

There is a noisy plane in the instance Point Cloud.

• Parameter Description

Parameter	Description	Default Value	Value Range	Unit	Parameter Adjustment Suggestion
Reference Distance for Plane Fitting (mm)	If the distance between a point and the plane is lower than the reference distance, it is considered a point on the plane; otherwise, it is considered a point outside the plane.	3	[0.001，10000]	mm	Generally unchanged
Remove Plane	When selected, remove the plane with the largest number of Point Cloud points; when cleared, retain the plane with the largest number of Point Cloud points.	Not selected	/	/	If the plane with the largest number of Point Cloud points is the workpiece, keep the plane and do not select this option; if the plane with the largest number of Point Cloud points is noise, remove the plane and select this option.

• Example

2.1.10 Remove Point Cloud Outliers

• Function

Identify and remove outlier noise in the Point Cloud to improve Point Cloud quality.

• Usage Scenario

The instance Point Cloud contains a large amount of outlier noise.

• Parameter Description

Parameter Name	Description	Default Value	Value Range
Reference Neighbor Point Count	The number of neighboring points around each point in the Point Cloud, that is, the neighborhood size. For dense Point Clouds, even a small neighborhood is sufficient to reflect workpiece features, so a smaller value can be used; for sparse Point Clouds, a larger neighborhood is needed to reflect workpiece features, so a larger value should be used.	30	[1, 10000000]
Standard Deviation Multiplier	Used to identify outlier noise. If the deviation between a point's coordinates and the average coordinates of the instance Point Cloud exceeds the standard deviation multiplier, the point is considered an outlier. The smaller the value, the more points are considered outliers and the more outliers are removed, but this may cause misjudgment and remove important workpiece features; the larger the value, the fewer points are considered outliers and the fewer outliers are removed, but some outliers may remain and affect workpiece recognition accuracy.	0.005	[0.0001, 2]

• Parameter Adjustment

Generally unchanged. If the Point Cloud becomes too sparse after Removing Point Cloud Outliers, increase the Standard Deviation Multiplier.

• Example

2.1.11 Filter Out Point Clouds Whose Object Distance Exceeds the Limit

• Function

Filter out Point Clouds in a specified direction to remove noise and improve image recognition accuracy.

• Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Parameter Adjustment Suggestion
Specified Axis	The specified axis of the Point Cloud, used to filter out Point Clouds in the specified direction	Z-axis	X/Y/Z-axis	/	Specified Axis generally does not need to be changed
Threshold (mm)	Along the specified axis direction, if the distance between the lower-layer Point Cloud and the workpiece Point Cloud is greater than this threshold, the lower-layer Point Cloud will be filtered out; if the distance is less than this threshold, the lower-layer Point Cloud will be retained.	750	[0, 1000]	mm	Adjust the Threshold according to the actual scenario. The larger the Threshold, the fewer Point Clouds are filtered out; the smaller the Threshold, the more Point Clouds are filtered out.
Select Coordinate System	Filter Point Clouds in the selected coordinate system	ROI Coordinate System	Camera Coordinate System; ROI Coordinate System; Object's Own Coordinate System	/

• Example

2.1.12 Optimize the Mask Based on the Point Cloud

• Function

Based on the Point Cloud within ROI 3D, remove Point Cloud points in the Mask that are not within ROI 3D to improve Mask precision.

2.2 Cylinder Pose Estimation

2.2.1 Fitting Reference Distance (mm)

• Function

The model calculates an ideal cylinder based on the instance Point Cloud, and Point Cloud points whose distance to the ideal cylinder is less than the fitting reference distance are fitted into a cylinder.

• Usage Scenario

Cylinder-based ordered loading and unloading, and cylinder-based random picking.

• Parameter Description

Default Value: 2

Value Range: [0.1, 1000]

Unit: mm

• Parameter Adjustment

  • The log for fitting the cylinder is shown below.

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2.1.2 Fitting Score Threshold

• Function

Calculate the ratio between the number of Point Cloud points fitted into a cylinder and the number of points in the instance Point Cloud. Fitted cylinders whose ratios are lower than the fitting score threshold will be filtered out.

• Usage Scenario

Cylinder-based ordered loading and unloading, and cylinder-based random picking.

• Parameter Description

Default Value: 0.5

Value Range: [0,1]

• Parameter Adjustment

If the log reports "No cylinder Point Cloud meeting the requirements was detected", it means the cylinder cannot be fitted, and the fitting score threshold should be reduced.

2.2.3 Enable Dimension Prior

• Function

After being enabled, constrain the dimensions of the fitting result.

• Usage Scenario

Cylinder-based random picking and cylinder-based ordered loading and unloading.

• Parameter Adjustment

Selected by default

2.2.4 Object Pose Correction

Fine Matching Search Radius (mm)

• Function

During fine matching, the template Point Cloud and the instance Point Cloud are matched, and each point in the template Point Cloud needs to search for the nearest point in the instance Point Cloud. The fine matching search radius represents both the search radius in the instance Point Cloud and the distance threshold between each point in the template Point Cloud and its nearest point in the instance Point Cloud. If the distance between a point and its nearest point is smaller than the fine matching search radius, the two points are considered matchable; otherwise, they are considered unmatchable.

• Usage Scenario

Ordered loading and unloading of planar workpieces, random picking of planar workpieces, and positioning and assembly scenarios of planar workpieces.

• Parameter Description

Default Value: 10

Value Range: [1, 500]

Unit: mm

• Parameter Adjustment

Normally unchanged

Fine Matching Search Mode

• Function

The method used by the template Point Cloud to search for nearest points in the instance Point Cloud during fine matching.

• Usage Scenario

If the fine matching effect between the template Point Cloud and the instance Point Cloud is poor, this function should be adjusted.

• Parameter Description

Parameter	Description
Point-to-Point	Each point in the template Point Cloud searches for the nearest point in the instance Point Cloud (the point with the shortest straight-line distance within the search radius). Applicable to all workpieces.
Point-to-Plane	Each point in the template Point Cloud searches for the nearest point in the instance Point Cloud along its normal vector. Applicable to workpieces with obvious geometric features.
Combination of Point-to-Point and Point-to-Plane	First use the point-to-point mode to optimize the workpiece pose in the instance Point Cloud, and then use the point-to-plane mode to optimize the workpiece pose in the instance Point Cloud. Applicable to workpieces with obvious geometric features. Using this method increases Takt Time

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Use Contour Mode

• Function

Extract contour Point Clouds from the template Point Cloud and the instance Point Cloud for coarse matching.

• Usage Scenario

In ordered loading and unloading, random picking, and positioning and assembly scenarios for planar workpieces, if the coarse matching result using key points is poor, this function should be selected to use the contour Point Cloud for coarse matching again.

• Parameter Adjustment

The coarse matching result affects the fine matching result. If the fine matching result is poor, you can select Use Contour Mode

Contour Search Range (mm)

• Function

The search radius for extracting contour Point Clouds in the template Point Cloud and the instance Point Cloud.

• Usage Scenario

Ordered loading and unloading of general workpieces, random picking of general workpieces, and positioning and assembly scenarios of general workpieces.

• Parameter Description

Default Value: 5

Value Range: [0.1, 500]

Unit: mm

• Parameter Adjustment

A smaller value means a smaller search radius for contour Point Clouds, which is suitable for extracting detailed workpiece contours, but the extracted contours may contain outlier noise;

A larger value means a larger search radius for contour Point Clouds, which is suitable for extracting broader workpiece contours, but the extracted contours may ignore some detailed features.

Save Pose Estimation [Fine Matching] Data

• Function

When selected, save fine matching data.

• Usage Scenario

Ordered loading and unloading of planar workpieces, random picking of planar workpieces, positioning and assembly of planar workpieces, and positioning and assembly of planar workpieces (matching only).

• Example

The fine matching data is saved under the project save path at \Project Folder\data\PickLight\Historical Data Timestamp\Builder\pose\output folder.

2.2.5 Cylinder Pose Normalization

• Function

Search for the optimal grasping direction based on the projection of valid inliers in the axial direction, and standardize the direction of the cylinder pose.

• Usage Scenario

Cylinder-based ordered loading and unloading, and cylinder-based random picking.

2.3 Empty ROI Check

• Function

Determine whether there are still workpieces (Point Clouds) remaining in ROI 3D. If the number of 3D points in ROI 3D is lower than this value, it indicates that no workpiece Point Cloud remains, and no Point Cloud is returned at this time.

• Parameter Description

Default Value: 1000

Value Range: [0, 100000]

• Usage Process

Set the minimum point count determination threshold for ROI 3D. If it is lower than this threshold, the workpiece Point Cloud in ROI 3D is insufficient, and it is therefore determined that there is no workpiece in ROI 3D;

In the Robot configuration, add a vision status code to facilitate subsequent signal processing by the Robot.

3. Pick Point Processing

This section mainly explains functions related to Pick Point filtering and adjustment, along with Parameter tuning recommendations.

3.1 Pick Point Adjustment

3.1.1 Rotate the Picking Pose when it is outside the angle range

• Function description

When the Picking Pose is outside the configured angle range, it is rotated counterclockwise by a certain angle around a fixed axis. If it is still outside the configured angle range after rotation, a warning is issued.

• Usage scenario

This function is only applicable to depalletizing scenarios. It can keep the robot's approach direction stable during picking and prevent the end effector from repeatedly rotating during the picking process. In 180° cases, it can prevent exceptions such as cable twisting.

• Parameter description

Parameter	Description	Default	Range	Unit
Fixed axis	An axis of the Picking Pose. The pose is rotated counterclockwise around this fixed axis	Z-axis	X/Y/Z-axis	/
Rotation angle	The angle by which the pose is rotated counterclockwise around the fixed axis. Adjust this angle so the Picking Pose satisfies the angle range	0	[-360,360]	degree
Angle range	The angle range of the Picking Pose. Set the angle range according to factors such as material placement, end effector type, and cycle time	[0,180]	[-180,180]	degree
Use current robot Euler Angles	By default, pose calculation uses Euler Angles "XYZ". When selected, the Euler Angles configured for the current robot are used so the pose remains consistent with the robot teach pendant.	Unchecked	/	/
Custom coordinate system	The coordinate system of the Picking Pose	Robot arm coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system	/

• Example

Without using this function, the generated Pick Points are shown below.

When this function is used with the default values, the RZ angles of the Picking Poses for instances 0, 1, and 2 are all within the angle range [0,180], so no processing is performed. The RZ angle of the Picking Pose for instance 4 is -90°, which is outside the angle range [0,180], so the Picking Pose of instance 4 is rotated by 0° around the fixed Z-axis.

If you want to adjust the RZ angle of the Picking Pose for instance 4 into the angle range, you can change the rotation angle to 180 and rotate the Picking Pose of instance 4 by 180° around the fixed Z-axis.

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3.1.2 Rotate the Picking Pose so the rotation axis direction matches the target axis direction

• Function description

Rotate the Picking Pose once around the fixed axis so that the direction of the rotation axis (determined by the right-hand rule) matches the positive or negative direction of the target axis in the target coordinate system.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range
Rotation axis	An axis of the Picking Pose. Determined by the right-hand rule, the Picking Pose is rotated counterclockwise once around the fixed axis so that the direction of the rotation axis matches the positive or negative direction of the target axis in the target coordinate system	X-axis	X/Y/Z-axis
Fixed axis	The Picking Pose is rotated counterclockwise once around the fixed axis so that the direction of the rotation axis matches the positive or negative direction of the target axis in the target coordinate system	Z-axis	X/Y/Z-axis
Target axis	An axis of the target coordinate system. The Picking Pose is rotated counterclockwise once around the fixed axis so that the direction of the rotation axis matches the positive or negative direction of the target axis in the target coordinate system	X-axis	X/Y/Z-axis
Negative target axis direction	If selected, the direction of the rotation axis is aligned with the negative direction of the target axis in the target coordinate system; otherwise, it is aligned with the positive direction of the target axis in the target coordinate system	Unchecked	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system

• Example

3.1.3 Rotate the Picking Pose so the angle between the rotation axis and the target axis is minimized

• Function description

Rotate the Picking Pose around the fixed axis by 0, 90, 180, and 270 degrees respectively, calculate the angle between the rotated rotation axis and the positive or negative direction of the target axis in the camera coordinate system, and finally output the Picking Pose with the smallest angle after rotation.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range
Fixed axis	An axis of the Picking Pose. Rotate the pose counterclockwise around this fixed axis	Z-axis	X/Y/Z-axis
Rotation axis	An axis of the Picking Pose. When rotating the pose, calculate the angle between this rotation axis and the positive or negative direction of the target axis	X-axis	X/Y/Z-axis
Target axis	An axis of the camera coordinate system. When rotating the pose, calculate the angle between the rotation axis and the positive or negative direction of this target axis	X-axis	X/Y/Z-axis
Negative target axis direction	If selected, calculate the angle between the rotation axis and the negative direction of the target axis; otherwise, calculate the angle between the rotation axis and the positive direction of the target axis	Selected	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system

• Example

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3.1.4 Flip the Picking Pose so the angle between the rotation axis and the target axis is minimized

• Function description

Rotate the Picking Pose once around the fixed axis so that the angle formed between the rotation axis and the positive or negative direction of the target axis in the ROI coordinate system is acute.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range
Fixed axis	An axis of the Picking Pose. Rotate the Picking Pose counterclockwise around this fixed axis	Z-axis	X/Y/Z-axis
Rotation axis	An axis of the Picking Pose. Rotate the Picking Pose so that the direction of this rotation axis matches the positive or negative direction of the target axis	X-axis	X/Y/Z-axis
Target axis	An axis in the ROI coordinate system. Rotate the Picking Pose so that the direction of the rotation axis matches the positive or negative direction of this target axis	X-axis	X/Y/Z-axis
Negative target axis direction	If selected, rotate the Picking Pose so that the direction of the rotation axis matches the negative direction of the target axis; otherwise, rotate the Picking Pose so that the direction of the rotation axis matches the positive direction of the target axis	Selected	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system

• Example

3.1.5 Point a Picking Pose axis toward the ROI center

• Function

Rotate the Picking Pose around a fixed axis so that the pointing axis of the Picking Pose points to the ROI center.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range
Pointing axis	The axis in the Picking Pose that needs to be adjusted	X-axis	X/Y/Z-axis
Fixed axis	The axis that remains unchanged during rotation	Z-axis	X/Y/Z-axis
Reverse align	If selected, reverse-align the pointing axis to the ROI center; otherwise, align the pointing axis to the ROI center	Selected	/
Strict pointing	If selected, force the Picking Pose to rotate so the pointing axis points to the ROI center	Unchecked	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system

• Example

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3.1.6 Rotate the Picking Pose so the Z-axis direction matches the Z-axis of the target coordinate system

• Function description

Rotate the Picking Pose so that its Z-axis direction matches the Z-axis of the target coordinate system.

• Usage scenario

Usually this is used by default only in depalletizing scenarios and cannot be deleted. It is used to make the Z-axis of the Picking Pose perpendicular to the Z-axis of the ROI coordinate system (4-axis) or consistent with the direction of the Target Object surface (6-axis).

• Parameter description

Parameter	Description	Default	Range
Robot configuration	Set according to the on-site robot configuration. You can choose 4-axis or 6-axis. If a 6-axis robot is actually used as a 4-axis robot, it should be set to 4-axis	4-axis	4-axis/6-axis
Use ROI Z-axis as target direction	When the robot configuration is set to 4-axis, if selected, the pose is rotated around the X-axis so that the Z-axis direction of the rotated pose matches the positive direction of the ROI Z-axis ; if not selected, the pose is rotated around the X-axis so that the Z-axis direction of the rotated pose matches the positive direction of the Z-axis of the camera coordinate system . When the robot configuration is set to 6-axis, regardless of whether it is selected, the pose is rotated around the X-axis so that the Z-axis direction of the rotated pose matches the positive direction of the Z-axis of the object's own coordinate system	Unchecked	/
Custom coordinate system	The coordinate system of the Picking Pose	Camera coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system

• Example

3.1.7 Rotate the Picking Pose around a fixed axis

• Function description

Rotate the Picking Pose by a certain angle around a fixed axis.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range	Unit
Rotation angle	The angle by which the pose is rotated counterclockwise around the fixed axis	90	[-360, 360]	degree°
Fixed axis	An axis of the Picking Pose. Rotate the pose counterclockwise around this fixed axis	Z-axis	X/Y/Z-axis	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system	/

• Example

3.1.8 Translate the Picking Pose

• Function description

Move the Picking Pose by a certain distance along the translation axis.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range	Unit
Translation amount (mm)	The distance the Picking Pose moves along the translation axis. A positive translation amount means translating in the positive direction of the translation axis, and a negative translation amount means translating in the negative direction of the translation axis	0	[-1000, 1000]	mm
Translation axis	The direction in which the Picking Pose moves	X-axis	X/Y/Z-axis	/
Custom coordinate system	The coordinate system of the Picking Pose	Robot arm coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system	/

• Example

3.1.9 Pick Point Teaching

• Function description

Record the Pick Point coordinates generated by the software and the Pick Point coordinates taught under the current operating condition, then output the transformed Picking Pose based on the offset between the two.

• Usage scenario

When the Pick Points generated by the vision system have an obvious systematic offset and the robot TCP coordinate accuracy is limited or difficult to calibrate, this method can be used to directly map the same offset pattern to subsequent Pick Points, thereby avoiding robot TCP calibration.

• Parameter description

Parameter	Description	Default	Range
Vision Pose	Pick coordinates of the detection result
X(mm)	X coordinate of the Vision Pose	0.00	±10000000, meaning no limit.
Y(mm)	Y coordinate of the Vision Pose	0.00	±10000000, meaning no limit.
Z(mm)	Z coordinate of the Vision Pose	0.00	±10000000, meaning no limit.
RX(°)	X-axis rotation amount of the Vision Pose	0.00	±180
RY(°)	Y-axis rotation amount of the Vision Pose	0.00	±180
RZ(°)	Z-axis rotation amount of the Vision Pose	0.00	±180
Picking Pose	Manually taught Pick Point
X(mm)	X coordinate of the Picking Pose	0.00	±10000000, meaning no limit.
Y(mm)	Y coordinate of the Picking Pose	0.00	±10000000, meaning no limit.
Z(mm)	Z coordinate of the Picking Pose	0.00	±10000000, meaning no limit.
RX(°)	X-axis rotation amount of the Picking Pose	0.00	±180
RY(°)	Y-axis rotation amount of the Picking Pose	0.00	±180
RZ(°)	Z-axis rotation amount of the Picking Pose	0.00	±180

3.1.10 Refine Object Pose based on plane Normal

• Function description

Correct the Object Pose by fitting the plane Normal so that the Z-axis direction of the Object Pose remains consistent with the direction of the plane Normal of the Target Object.

• Usage scenario

When the Target Object contains a plane and there is a tilt deviation in the plane when the template Point Cloud is matched with the actual Point Cloud, use this function to fine-tune the Target Object plane and improve picking accuracy.

Not applicable to depalletizing scenarios

• Parameter description

Parameter	Description	Default	Range	Unit
Distance Threshold	Distance Threshold for fitting a plane from the Point Cloud	10	[-1000, 1000]	mm
Save visualization data	If selected, the visualization data will be saved under the historical data timestamp	Selected	/	/
Custom coordinate system	The coordinate system of the Picking Pose	Camera coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system	/

• Example

3.1.11 Sort Pick Points by inter-axis angle

• Function

Sort Pick Points according to the angle between an axis of the Picking Pose and the target axis of the ROI.

• Parameter description

Parameter	Description	Default	Range
Axis selection	An axis of the Picking Pose	Z-axis	X/Y/Z-axis
Target axis selection	An axis of the ROI coordinate system	Z-axis	X/Y/Z-axis
Select reverse direction	If selected, calculate the angle with the negative direction of the target axis; otherwise, calculate the angle with the positive direction of the target axis	Unchecked	/
Select descending order	If selected, sort Pick Points from small to large by angle; otherwise, sort Pick Points from large to small by angle	Unchecked	/

3.1.12 [Advanced] Rotate the Picking Pose and automatically compensate for excessive angles to the specified axis

• Function description

Determine whether the angle formed between the specified axis of the Picking Pose and the target axis is within the specified range. If not, adjust the Picking Pose into the specified range.

• Usage scenario

Avoid collisions between the robot end effector and the bin.

• Parameter description

Parameter	Description	Default	Range	Unit
Angle range	Adjust the Picking Pose into the angle range	30	[0, 180]	degree°
Specified axis	An axis of the Picking Pose. Adjust this axis so that it falls within the angle range relative to the target axis of the ROI coordinate system	Z-axis	X/Y/Z-axis	/
Target axis	An axis of the ROI coordinate system. Compare the angle range with the specified axis of the Picking Pose	Z-axis	X/Y/Z-axis	/
Compare with the negative half-axis of the ROI	If not selected, compare the angle range with the positive direction of the target axis of the ROI coordinate system; if selected, compare the angle range with the negative direction of the target axis of the ROI coordinate system	Unchecked	/	/
Custom coordinate system	The coordinate system of the Picking Pose	Default coordinate system	Default coordinate system; camera coordinate system; ROI coordinate system; robot arm coordinate system	/

3.1.13 [Advanced] Symmetry center Object Pose optimization

• Function

Search for the symmetry center of the Target Object based on the instance Mask, then combine it with the plane of the instance or the pose of the ROI 3D center point to calculate the optimal Picking Pose.

Before using this function, first make sure the instance Mask is symmetrical

• Usage scenario

Applicable when the instance Mask of a symmetrical Target Object is also symmetrical, but the Picking Pose is not near the expected center; at the same time, the Target Object has a plane that can be used as a reference, for example, there is a plane on the top of the object, or ROI 3D can be used as a reference for the projected pose.

Applicable project scenarios include brake discs (general circles), refractory bricks (depalletizing), symmetrical irregular parts, fuel fillers, and so on.

• Parameter description

Parameter	Description	Default	Range	Tuning recommendation
Target Object Symmetry type	Target Object Symmetry type of the instance Mask	Rotational symmetry	Rotational symmetry: after the Target Object rotates by a certain angle around the center point, its shape completely overlaps with the original position; mirror symmetry: the Target Object uses a certain axis / plane as the mirror, and the left-right or upper-lower sides are completely symmetrical.	Circles and rectangles are both rotationally symmetrical and mirror-symmetrical, so rotational symmetry is preferred; for trapezoids and other shapes that are symmetrical only along a certain axis or plane, choose mirror symmetry.
Gaussian blur level	Tolerance for determining whether the actual Point Cloud overlaps after rotation	3	\[1,99\]	The larger the value, the stronger the blur, the more smoothing is applied, and the more lenient the overlap judgment after rotation; The smaller the value, the weaker the blur, the less smoothing is applied, and the stricter the overlap judgment. An odd number must be entered
Rotation angle setting	When the symmetry mode is rotational symmetry, it indicates the rotation angle interval, that is, the angle difference between two adjacent rotations. When the symmetry mode is mirror symmetry, it indicates the rotation range, that is, the angle interval within which the Point Cloud can rotate around the symmetry axis.	180	\[1,360\]	For rotational symmetry, set it based on the symmetry of the Target Object. A circle is symmetrical at any angle, so 60 degrees is recommended; A square has 90-degree symmetry, so it can be set to 90 degrees or 180 degrees; A rectangle has 180-degree symmetry, so set it to 180. For mirror symmetry, adjust it within 5° to ensure fine tuning near the symmetry axis
Image scaling ratio	Adjusts the size of the Point Cloud image. The larger this ratio, the smaller the Point Cloud image size and the lower the GPU memory usage, but image detail loss increases, resulting in reduced calculation accuracy .	2	\[1,10000000\]
Search range	Based on the initially determined center of the Target Object, this defines the range expanded outward to search for Point Cloud features. The actual range is (search range*2*image scaling ratio)	10	\[1,10000000\]	For example, for a square Target Object, the initially determined center position of the Target Object is point O. If the search range is set to 10 and the image scaling ratio is 1, then the actual search range is a square region centered at point O with a side length of 10×2×1=20. Point Cloud features are searched within this region to further determine the symmetry center of the Target Object and the optimal Picking Pose. As another example, for a circular Target Object, if the search range is set to 8 and the image scaling ratio is 2, then the actual search range is a circular region centered at the initially determined center of the Target Object with a diameter of 8×2×2=32. Point Cloud features are searched within this region to further determine the Object Pose of the Target Object and the optimal Picking Pose.
Use ROI3D as the reference projection plane	If selected, ROI3D is used as the reference projection plane	Unchecked	/	Select this when the Point Cloud has no obvious plane and the projection plane is difficult to determine; leave it unchecked when the Point Cloud has a clear plane.
Save symmetry center process data	If selected, the debug data generated during the symmetry center process is saved. You can view it in the `\ProjectName`\data`\PickLight`\HistoricalDataTimestamp`\find`\_symmetry_center folder	Unchecked	/	Select this when you need to inspect the detailed process images
Symmetry axis prior type	Effective in ``{=html}mirror symmetry``{=html} mode. Specifies the known Target Object Symmetry type and fixes the asymmetric orientation	Automatic search	Automatic searchSymmetric along the long axisSymmetric along the short axis	If the symmetry axis of the Target Object is the long axis, choose "Symmetric along the long axis". If the symmetry axis of the Target Object is the short axis, choose "Symmetric along the short axis". If uncertain, choose "Automatic search"
Pose adjustment type	Whether to inherit pose-related information from the input pose	Default pose	Default poseInherit rotationInherit translation	/
Symmetry score Threshold	Symmetry results with a symmetry score lower than this Threshold are abnormal results. When set to 0, no filtering is performed	0.0	\[0.0, 1.0\]	/

• Example

3.2 Pick Point Filtering

3.2.1 Filter by fine matching score

• Function description

Filter Pick Points based on the pose fine matching score.

• Parameter description

Parameter	Description	Default	Range
Score Threshold	Retain Pick Points whose fine matching score is greater than this Threshold	0.5	[0, 1]

• Example

3.2.2 Filter Pick Points of occluded Target Objects

• Function description

Determine whether there are too many occluding object Point Clouds in the target detection area along the specified ROI axis or the Picking Pose axis at the Pick Point of the grasped Target Object. If so, the Target Object is considered occluded and the Pick Point is filtered out.

• Usage scenario

Applicable to depalletizing and ordered scenarios in which Target Objects are picked layer by layer, but the model recognizes lower-layer Target Objects. When picking a lower-layer Target Object, the gripper may collide with the upper-layer Target Object.

• Parameter description

Parameter	Description	Default	Range	Unit
Cuboid length in X direction	Set the cuboid length in the X direction of the Picking Pose	1500	[1, 10000]	mm
Cuboid length in Y direction	Set the cuboid length in the Y direction of the Picking Pose	1500	[1, 10000]	mm
Cuboid length in Z direction	Set the cuboid length in the Z direction of the Picking Pose	800	[1, 10000]	mm
Distance Threshold between detection area and Pick Point origin	Along the ROI axis, the nearby cuboid surface area farther than this distance Threshold from the Pick Point origin is regarded as the target detection area	50	[1, 1000]	mm
Point Cloud count Threshold in detection area	If the number of occluding object Point Clouds in the target detection area exceeds this Threshold, the Pick Point is considered occluded	1000	[0, 100000]	/
Specified axis direction	Based on the pose reference specified axis direction, set the specific location of the target detection area within the cuboid space (for example, near the front/back/left/right/top/bottom surface of the cuboid)	[0,0,-1]	[1,0,0]: positive X-axis[-1,0,0]: negative X-axis[0,1,0]: positive Y-axis[0,-1,0]: negative Y-axis[0,0,1]: positive Z-axis[0,0,-1]: negative Z-axis	/
Use ROI 3D pose reference	If selected, adjust the collision detection area according to the ROI 3D pose reference	Unchecked	/	/
Save visualization data	If selected, the visualization data is stored according to the saved data path to help observe whether the generated cuboid is reasonable; if not selected, it is not saved	Unchecked	/	/

• Example

3.2.3 Filter by Picking Pose angle range

• Function description

Determine whether the angle of the Picking Pose is within the constrained angle range, and filter out all Pick Points that do not meet the condition.

• Usage scenario

Prevent collisions caused by abnormal robot arm Picking Pose angles.

• Parameter description

Parameter	Description	Default	Range	Unit
Angle filtering Threshold	Calculate the maximum angle between the specified axis of the ROI and the specified axis of the Picking Pose. Pick Points whose angle is greater than the current Threshold will be filtered out	30	[-360, 360]	degree°
Invert ROI specified axis direction	If selected, use the negative direction of the specified ROI axis for angle calculation; otherwise, use the positive direction of the specified ROI axis for angle calculation	Selected	/	/
Specified Picking Pose axis	Specify an axis of the Picking Pose for angle calculation	Z-axis	X/Y/Z-axis	/
Specified ROI axis	Specify an axis of the ROI coordinate system for angle calculation	Z-axis	X/Y/Z-axis	/

• Example

3.2.4 Filter Pick Points outside the ROI 3D type region

• Function description

Determine whether the Pick Point is within the ROI 3D range, and remove Pick Points that are outside the ROI 3D area.

• Usage scenario

Prevent picking outside the ROI area, which may cause collisions between the robot arm and the target object.

• Parameter description

Parameter	Description	Default
ROI3D type region	Usually "workspace"; "pick area" is a smaller ROI region than "workspace", which can restrict Pick Points to an ROI region smaller than the "workspace" to avoid some collision cases.	Workspace

• Example

As shown in the figure below, when the ROI3D area and ROI2D are area a, the corresponding Pick Point is in the upper-right corner.

When the ROI3D area and ROI2D are changed to area b, the original Pick Point is outside the ROI area, so that Pick Point is removed and a new Pick Point is generated within area b.

---

3.2.5 [New] Filter Pick Points where the Target Object collides with the gripper (including the original function)

[New] Filter Pick Points where the Target Object collides with the gripper

• Function description

Collision detection between the gripper and the Point Cloud near the Pick Point. If the number of Point Clouds in contact with the gripper exceeds the pick collision Threshold, the Pick Point of the Target Object is considered to have a collision risk.

• Usage scenario

Used when collision detection is required between the gripper and the Point Cloud near the Target Object being picked.

• Parameter description

Parameter	Description	Default	Range
Collision Threshold	Collision distance Threshold. If the distance between the scene and the gripper surface is smaller than this Threshold, it is considered a collision. The larger the Threshold, the stricter it is. Unit: mm	7	1-1000
Collision Point Cloud sampling	Sampling size for collision Point Clouds. The larger the value, the faster the cycle time; the smaller the value, the slower the cycle time. Effective only in "Target Object scene Point Cloud only" and "bin + Target Object scene Point Cloud" modes. Unit: mm	5	1 - 1000
Save visualization data for gripper collision detection	Save visualization data for collision detection between the gripper and the picked Target Object	Unchecked	Selected/Unchecked

Filter Pick Points where the Target Object collides with the gripper

• Function description

Collision detection between the gripper and the Point Cloud near the Pick Point. If the number of Point Clouds in contact with the gripper exceeds the pick collision Threshold, the Pick Point of the Target Object is considered to have a collision risk.

• Usage scenario

Used when collision detection is required between the gripper and the Point Cloud near the Target Object being picked.

• Parameter description

Parameter	Description	Default	Range
Pick collision Threshold	The maximum number of Point Clouds the gripper may contain near the Pick Point. For example, 20 means that if the number of scene Point Clouds contained by the gripper exceeds 20, it is considered a collision	20	0-10000
Collision Point Cloud sampling (m)	Downsampling size of the Point Cloud in the collision area. The larger the value, the faster the detection speed, but the lower the accuracy. Applicable scenario: scenarios requiring high cycle rates	0.002	0.0001 - 0.5000
Save visualization data for gripper collision detection	Save visualization data for collision detection between the gripper and the picked Target Object	Unchecked	Selected/Unchecked
Import gripper model	Select and import the gripper model used for collision detection from a folder	/	/

**The gripper should be simplified to fewer than 500 faces**

3.2.6 [Advanced] Retain the one Pick Point with the largest/smallest pose value among instance Pick Points and filter the remaining Pick Points

• Function description

Convert the pose to the specified coordinate system, sort poses according to the value of the specified sorting axis, and retain the pose with the maximum or minimum value. This is suitable for cylindrical Target Objects when keeping the top or bottom Pick Point.

• Parameter description

Parameter	Description	Default	Range
Specified coordinate system	Select which coordinate system the pose should be converted to for processing	ROI coordinate system	ROI coordinate system/camera coordinate system
Specified sorting axis	Select which axis value of the pose to sort by	Z-axis	X/Y/Z-axis
Take minimum value	If selected, retain the pose with the minimum value on the sorting axis; otherwise, retain the pose with the maximum value on the sorting axis	Unchecked	/

• Example

3.2.7 [Advanced] Filter Pick Points close to the previous N Pick Points

• Function description

If the variation between the current Pick Point and any Pick Point in the cache is within the Threshold range, the Pick Point will be filtered out.

• Parameter description

Parameter	Description	Default	Range	Unit
Upper limit of Pick Point change (+)
X(mm)	Upper limit of X coordinate	2	[0, 10000000]	mm
Y(mm)	Upper limit of Y coordinate	2	[0, 10000000]	mm
Z(mm)	Upper limit of Z coordinate	2	[0, 10000000]	mm
RX(°)	Upper limit of RX rotation amount	1	[0, 180]	degree°
RY(°)	Lower limit of RY rotation amount	1	[0, 180]	degree°
RZ(°)	Lower limit of RZ rotation amount	1	[0, 180]	degree°
Lower limit of Pick Point change (-)
X(mm)	Lower limit of X coordinate	2	[0, 10000000]	mm
Y(mm)	Lower limit of Y coordinate	2	[0, 10000000]	mm
Z(mm)	Lower limit of Z coordinate	2	[0, 10000000]	mm
RX(°)	Lower limit of RX rotation amount	1	[0, 180]	degree°
RY(°)	Lower limit of RY rotation amount	1	[0, 180]	degree°
RZ(°)	Lower limit of RZ rotation amount	1	[0, 180]	degree°
Pick Point cache count	Number of Pick Points cached. After the current Pick Point comparison is completed, it will be added to the cache in real time	5	[1, 100]	/

3.2.8 [Advanced] Filter Object Poses close to the previous N Object Poses

• Function description

If the variation between the current Object Pose and any Object Pose in the cache is within the Threshold range, the Object Pose will be filtered out. When an Object Pose is determined to be similar, all Pick Points on that Target Object will be filtered out.

• Parameter description

Parameter	Description	Default	Range	Unit
Upper limit of Object Pose change (+)
X(mm)	Upper limit of X coordinate	2	[0, 10000000]	mm
Y(mm)	Upper limit of Y coordinate	2	[0, 10000000]	mm
Z(mm)	Upper limit of Z coordinate	2	[0, 10000000]	mm
RX(°)	Upper limit of RX rotation amount	1	[0, 180]	degree°
RY(°)	Lower limit of RY rotation amount	1	[0, 180]	degree°
RZ(°)	Lower limit of RZ rotation amount	1	[0, 180]	degree°
Lower limit of Object Pose change (-)
X(mm)	Lower limit of X coordinate	2	[0, 10000000]	mm
Y(mm)	Lower limit of Y coordinate	2	[0, 10000000]	mm
Z(mm)	Lower limit of Z coordinate	2	[0, 10000000]	mm
RX(°)	Lower limit of RX rotation amount	1	[0, 180]	degree°
RY(°)	Lower limit of RY rotation amount	1	[0, 180]	degree°
RZ(°)	Lower limit of RZ rotation amount	1	[0, 180]	degree°
Object Pose cache count	Number of vision Object Poses cached. After the comparison of the current Object Pose is completed, it will be added to the cache in real time	5	[1, 100]	/

3.2.9 [Advanced] Filter Pick Points outside the upper and lower limits of Pick coordinates

• Function description

Retain other Pick Points within the specified range of a reference Pick Point and filter out abnormal Pick Points.

• Usage scenario

Prevent incorrect robot picking and ensure picking accuracy.

This function is not applicable to depalletizing scenarios

• Parameter description

Parameter	Description	Default	Unit
Reference Pick coordinates
X(mm)	X coordinate of the reference Pick Point	0	mm
Y(mm)	Y coordinate of the reference Pick Point	0	mm
Z(mm)	Z coordinate of the reference Pick Point	0	mm
RX(°)	RX rotation amount of the reference Pick Point	0	degree
RY(°)	RY rotation amount of the reference Pick Point	0	degree
RZ(°)	RZ rotation amount of the reference Pick Point	0	degree
Upper limit of Pick coordinates (+)
X(mm)	Upper limit of the X coordinate. For example, if the X coordinate of the reference Pick Point is 100 and the upper limit is set to 10, the allowed range is: [100-lower limit, 110]	10000000, meaning no limit.	mm
Y(mm)	Upper limit of the Y coordinate. For example, if the Y coordinate of the reference Pick Point is 100 and the upper limit is set to 10, the allowed range is: [100-lower limit, 110]	10000000	mm
Z(mm)	Upper limit of the Z coordinate. For example, if the Z coordinate of the reference Pick Point is 100 and the upper limit is set to 10, the allowed range is: [100-lower limit, 110]	10000000	mm
RX(°)	Upper limit of the RX rotation amount. For example, if the RX rotation amount of the reference Pick Point is 180 and the upper limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -170], [180-lower limit, 180]]	180, meaning no limit.	degree°
RY(°)	Upper limit of the RY rotation amount. For example, if the RY rotation amount of the reference Pick Point is 180 and the upper limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -170], [180-lower limit, 180]]	180	degree°
RZ(°)	Upper limit of the RZ rotation amount. For example, if the RZ rotation amount of the reference Pick Point is 180 and the upper limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -170], [180-lower limit, 180]]	180	degree°
Lower limit of Pick coordinates (-)
X(mm)	Lower limit of the X coordinate. For example, if the X coordinate of the reference Pick Point is 100 and the lower limit is set to 10, the allowed range is: [100-lower limit value, 110]	10000000	mm
Y(mm)	Lower limit of the Y coordinate. For example, if the Y coordinate of the reference Pick Point is 100 and the lower limit is set to 10, the allowed range is: [100-lower limit, 110]	10000000	mm
Z(mm)	Lower limit of the Z coordinate. For example, if the Z coordinate of the reference Pick Point is 100 and the lower limit is set to 10, the allowed range is: [100-lower limit, 110]	10000000	mm
RX(°)	Lower limit of the RX rotation amount. For example, if the RX rotation amount of the reference Pick Point is 180 and the lower limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -180+upper limit], [170, 180]]	180, meaning no limit.	degree°
RY(°)	Lower limit of the RY rotation amount. For example, if the RY rotation amount of the reference Pick Point is 180 and the lower limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -180+upper limit], [170, 180]]	180	degree°
RZ(°)	Lower limit of the RZ rotation amount. For example, if the RZ rotation amount of the reference Pick Point is 180 and the lower limit is set to 10, the allowed range is (default angle wraparound applies): [[-180, -180+upper limit], [170, 180]]	180	degree°

---

3.3 Pick Point Sorting

3.3.1 Reference coordinate system

• Function description

Set a unified coordinate system for all instances to group and sort instances.

• Usage scenario

Common to depalletizing scenarios, random picking scenarios, and ordered loading/unloading scenarios

Strategies related to coordinates should first set the reference coordinate system

• Parameter description

Parameter	Description	Illustration
Camera coordinate system	The coordinate system origin is above the object, and the positive Z-axis direction points downward; the XYZ values are the values of the center point of the object in this coordinate system
ROI coordinate system	The coordinate system origin is approximately at the center of the pallet stack, and the positive Z-axis direction points upward; the XYZ values are the values of the center point of the object in this coordinate system
Robot arm coordinate system	The coordinate system origin is on the robot arm itself, and the positive Z-axis direction generally points upward; the XYZ values are the values of the center point of the object in this coordinate system
Pixel coordinate system	The coordinate system origin is at the top-left vertex of the RGB image and is a 2D planar coordinate system; the X and Y values are the x value of the bbox detection box and the y value of the bbox detection box, and Z is 0

3.3.2 General picking strategy

• Parameter description

Parameter	Description
Strategy	Select which value is used for grouping and sorting and how to sort it, including Pick Point center X/Y/Z coordinate values from large to small/from small to large (mm), from the middle to the sides / from the sides to the middle along the Pick Point XY coordinate axis (mm). Multiple items can be superimposed and executed in order.
Grouping step size	According to the selected strategy, divide Pick Points into several groups based on the step size. The grouping step size is the interval between two groups of Pick Points
Number of leading groups to keep	After grouping and sorting, how many groups of instances need to be retained

Strategy name*	Description	Grouping step size		Number of leading groups to keep
		Default	Range	Default
Pick Point center X/Y/Z coordinate values from large to small / from small to large (mm)	Use the X/Y/Z coordinate values of the Pick Point center for grouping and sorting	200.000	[0, 10000000]	10000
From the middle to the sides / from the sides to the middle along the Pick Point XY coordinate axis (mm)	Use the X/Y coordinate values of the Pick Point center and perform grouping and sorting in the direction of "middle to sides" or "sides to middle"	200.000	[0, 10000000]	10000

3.3.3 Carton combination strategy

To solve the problems of low efficiency and limited applicable scenarios in traditional single-pick depalletizing, PickWiz adds a carton combination strategy in depalletizing scenarios to support picking multiple Target Objects in a single operation. It supports the core scenarios of "cartons with consistent dimensions" and "rectangular suction cups", covering more real project scenarios.

3.3.3.1 Multi-pick runtime configuration

（1）In sack single depalletizing or carton single depalletizing scenarios, enable Vision computation configuration - Vision computation acceleration.

（2）Under the Pick Point sorting module, select the carton combination strategy;

（3）Strategy selection: available options are the default combination strategy or combination along a specified carton pose axis. These are two methods for finding the largest number of cartons that can be combined.

• Default combination strategy: Find the largest number of cartons that can be combined along the X-axis and Y-axis directions of a carton Picking Pose.

• Combine along a certain carton pose axis: Find the largest number of cartons that can be combined along the X-axis or Y-axis direction of a carton Picking Pose. This is suitable for scenarios where cartons are arranged in a straight line. When using this strategy, you need to choose the carton combination direction, namely the Picking Pose X-axis or the Picking Pose Y-axis.

Note:

The combination direction is related to the positive and negative axis directions. Cartons can be combined only when they are on the same axis and in the same direction, and after combination, the orientation of the whole stack of cartons remains consistent with the orientation of a single carton before combination. Therefore, before combining cartons, make sure all cartons to be combined are placed in the same orientation, and unify the coordinates of the cartons to be combined to the same axis direction.

（4）Combination conditions: determine which cartons can be combined and how many can be combined at most.

• Maximum cartons per row: the maximum number of cartons that can be combined in one row, default is 2.

• Maximum number of combination rows: the maximum number of carton rows that can be combined, default is 1.

• Maximum spacing (mm): cartons to be combined cannot be too far apart in the "combination direction", In the combination direction (axis direction), when the spacing between two adjacent cartons or cartons in different rows is less than this value, they can be combined into one group. The default is 10.

  • Example: when searching for the maximum number of cartons along the Picking Pose X-axis, if the spacing between two adjacent cartons in the Picking Pose X-axis direction is 8 mm (≤10), they can be combined; if the spacing is 12 mm (>10), they cannot be combined.

• Maximum misalignment distance (mm): cartons to be combined cannot be too far apart in the direction "perpendicular to the combination direction" . In the direction perpendicular to the combination direction (axis direction), when the misalignment distance between two adjacent cartons or cartons in different rows is less than this value, they can be combined into one group. The default is 10.

  • Example: when searching for the maximum number of cartons along the Picking Pose X-axis, if two adjacent cartons are offset in the Picking Pose Y-axis direction by 8 mm (≤10), they can be combined; if they are offset by 15 mm (>10), they are no longer aligned and cannot be picked together.

• Maximum angular deviation (°): cartons to be combined should face almost the same direction. In the combination direction (axis direction), when the rotational deviation angle of the cartons is less than this value, they can be combined into one group. The default is 10.

  • Example: if a carton is rotated by 5° relative to the combination direction, as long as it does not exceed 10°, it can be combined; if it is rotated by 15° (>10), the orientation differs too much, the robot will be skewed when picking, and it cannot be combined.

3.3.3.2 Robot configuration

（1）On the robot configuration page, add new placeholders in Vision computation communication message - Robot to PickWiz commands - Vision detection send command: maximum cartons per row and maximum number of combination rows, as shown below;

（2）In Vision computation communication message - PickWiz to robot commands - Pick-related information - Returned information when picking Target Objects, add Object Dimensions length, Object Dimensions width, and Target Object orientation.

After the robot configuration is completed, click the Run button.

3.3.3.3 View multi-pick runtime results

（1）In the 3D Matching window, hover the mouse over an instance to view the combined picking information of a single instance after carton combination, including 2D recognition results, Picking Pose, and instance combination information.

In the visualization window, click the Settings button in the upper right corner to set how the combined instance information is displayed.

Right-click an instance to view the combined picking information and Target Object information of the single instance.

（2）In the 2D recognition window, you can use the relevant combination buttons in the menu bar to view the combined ID, combined Mask, and combined bounding box.

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