Visual Parameter Adjustment Guide for Ordered Loading and Unloading Based on Quadrilaterals

About 14141 wordsAbout 47 min

This article mainly introduces how to adjust vision parameters according to actual scenarios in ordered loading and unloading and random picking of quadrilateral target objects.

1. 2D Recognition

1.1 Preprocessing

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

1.1.1 Bilateral Filtering

Feature

Image smoothing based on bilateral filtering.

Parameter Description

Parameter	Description	Default 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

Feature

Calculate pixel Normals from the depth map and convert the image into a Normal map.

1.1.3 Image Enhancement

Feature

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

Parameter Description

Parameter	Description	Default 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

Feature

Improve the contrast of the image.

Parameter Description

Parameter	Description	Default Value	Range
Local Mode	Local or global histogram equalization. If checked, local histogram equalization is used; if unchecked, global histogram equalization is used.	Checked	/
Contrast Threshold	Contrast threshold	3	[1,1000]

1.1.5 Filter Depth Map by Color

Feature

Filter the depth map based on color values.

Parameter Description

Parameter	Description	Default Value	Range
Fill Kernel Size	The size of the color fill	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 Region Within the Color Range	If checked, the region within the color range is kept; if unchecked, the region outside the color range is kept.	/	/

1.1.6 Gamma Image Correction

Feature

Gamma correction changes image brightness.

Parameter Description

Parameter	Description	Default Value	Range
Gamma Compensation Coefficient	If this value is less than 1, the image becomes darker; if it is greater than 1, the image becomes brighter.	1	[0.1,100]
Gamma Correction Coefficient	If this value is less than 1, the image becomes darker and is suitable for overly bright images; if 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 Holes in the Depth Map

Feature

Fill the hollow regions in the depth map and smooth the filled depth map.

Use Case

Due to issues such as occlusion caused by the structure of the target object itself and uneven lighting, some regions of the target object may be missing in the depth map.

Parameter Description

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

The fill kernel size can only be an odd number.

Parameter Tuning

Adjust according to the detection results. If the fill is excessive, reduce the parameter; if the fill is insufficient, increase the parameter.

Example

Parameter	Description	Default Value	Parameter Range	Tuning Recommendation
Normal Z-direction Filter Threshold	The angle filter threshold between the Normal 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 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 to a color that differs greatly from the Background color.	30	[0,180]	For flat target object surfaces, this threshold can be smaller. For curved target objects, increase it appropriately according to the degree of surface inclination.
Background	The RGB color threshold of the Background	128	[0,255]	/
Automatically Adjust Contrast Background	Checked After Automatically Adjust Contrast Background is enabled, the colors of points in the 2D image whose angles are greater than the filter threshold are set to colors that differ greatly from the Background colorUnchecked After Automatically Adjust Contrast Background is disabled, the colors of points in the 2D image whose angles are greater than the filter threshold are set to the color corresponding to the Background color	Unchecked	/	/

1.1.9 Extract the Highest Layer Texture

Feature

Extract the texture of the Highest Layer or the bottommost layer of target objects, and set other regions to the Background color or to a color that differs significantly from the Background color.

Use Case

Factors such as poor lighting conditions, similar color textures, dense stacking, staggered stacking, or occlusion may make it difficult for the model to distinguish the texture differences between the upper and lower layers of target objects, resulting in false detections.

Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Tuning Recommendation
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 on the topmost plane (bottommost plane) and should be kept; otherwise, it is considered to be on the lower layer (upper layer), and the color of points on the lower layer (upper layer) is set to the Background color or to a color that differs significantly from the Background color.	50	[0.1, 1000]	mm	Generally set to half of the target object's height
Number of Clustering Points	The expected number of points participating in clustering, that is, the number of sampled point clouds in the ROI 3D region	10000	[1，10000000]	/	The more Number of Clustering Points, the lower the model inference speed but the higher the accuracy; the fewer Number of Clustering Points, the higher the model inference speed but the lower the accuracy.
Minimum Number of Class Points	The minimum number of points used to filter classes	1000	[1, 10000000]	/	/
Automatically Calculate Contrast Background	Checked After Automatically Calculate Contrast Background is enabled, regions other than the Highest Layer (bottommost layer) in the 2D image are set to colors that differ greatly from the Background color thresholdUnchecked After Automatically Calculate Contrast Background is disabled, regions other than the Highest Layer (bottommost layer) in the 2D image are set to the color corresponding to the Background color threshold	Checked	/	/	/
Background Color Threshold	The RGB color threshold of the Background color	128	[0,255]	/	/

Example

1.1.10 Remove the Image Background Outside ROI3D

Feature

Remove the background outside the ROI3D region in the 2D image.

Use Case

There is a large amount of background noise in the image that affects the detection results.

Parameter Description

Parameter Name	Description	Default 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	Checked After Automatically Calculate Contrast Background is enabled, the regions outside the ROI in the 2D image are set to colors that differ greatly from the Background color thresholdUnchecked After Automatically Calculate Contrast Background is disabled, the regions outside the ROI in the 2D image are set to the color corresponding to the Background color threshold	Checked	/
Background Color Threshold	The RGB color threshold of the Background color	128	[0,255]

The fill kernel size can only be an odd number.

Parameter Tuning

If you need to remove more background noise from the image, reduce the Fill Kernel Size.

Example

1.2 Instance Segmentation

1.2.1 Scaling Ratio

Feature

Improve the accuracy and recall of 2D recognition by scaling the original image proportionally before inference.

Use Case

If the detection effect is poor (for example, no instances are detected, some instances are missed, one bounding box covers multiple instances, or the bounding box does not fully cover the instance), adjust this function.

Parameter Description
- Default value: 1.0
- Range: [0.01, 3.00]
- Step size: 0.01
Parameter Tuning
- Run with the default value and check the detection result in the visualization window. If no instances are detected, some instances are missed, one bounding box covers multiple instances, or the bounding box does not fully cover the instance, adjust this function.
- In 2D recognition, the percentage shown 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 an instance is the Mask, and the rectangle surrounding the instance is the bounding box.
- Try different scaling ratios and observe the changes in the detection results to gradually determine the range of scaling ratios. If the detection effect improves significantly at a certain scaling ratio, use that scaling ratio as the lower bound; if the detection effect deteriorates significantly at a certain scaling ratio, use that scaling ratio as the upper bound.
If good detection results cannot be obtained after trying all scaling ratios, adjust the ROI region.
As shown in the figure below, when the scaling ratio is 0.2, the detection effect improves significantly, so 0.2 can be determined as the lower bound of the scaling ratio range.
When the scaling ratio is 0.5, the detection effect deteriorates significantly, so 0.5 can be determined as the upper bound of the scaling ratio range.
- If the actual scenario does not require high picking accuracy, you can choose a scaling ratio with good detection results within the [0.2,0.5) interval. If the actual scenario requires high picking accuracy, 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.

1.2.2 Lower Confidence Threshold

Feature

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

Use Case

If the detected instances do not match expectations, adjust this function.

Parameter Description

Default value: 0.5

Range: [0.01, 1.00]

Parameter Tuning
- If the model detects too few instances, reduce this threshold. If the value is too small, it may affect the accuracy of image recognition.
- If incorrect instances are detected because the lower Confidence threshold is too small 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.

1.2.3 Enable Auto Enhancement

Feature

Combine all values in the input scaling ratios and rotation angles for inference, and return all combined results that are greater than the set lower Confidence threshold. This can improve model inference accuracy, but it will increase the time consumption.

Use Case

A single scaling ratio cannot meet the requirements of the actual scenario, resulting in incomplete detection, or the objects are placed with a large tilt angle.

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, and the model will automatically generate 6 types of images for inference. Finally, these 6 inference results will be merged together and results greater than the lower Confidence threshold will be output.

Auto Enhancement - Scaling Ratio

Feature

Scale the original image multiple times and perform multiple inferences to output a comprehensive inference result.

Use Case

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

Parameter Description

Default value: [1.0]

Range: Each scaling ratio ranges from [0.1, 3.0]

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

Parameter Tuning

Enter multiple scaling ratios with good detection results obtained in 1.2.1 Scaling Ratio.

Auto Enhancement - Rotation Angle

Feature

Rotate the original image multiple times and perform multiple inferences to output a comprehensive inference result.

Use Case

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

Parameter Description

Default value: [0.0]

Range: Each rotation angle ranges from [0, 360]

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

Parameter Tuning

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

1.3 Point Cloud Generation

Instance Point Cloud Generation Method	Mask Mode (after segmentation)	-	Generate the point cloud using the segmented instance Mask
	Bounding Box Mode (after segmentation)	Bounding Box Scaling Ratio (after segmentation)	Generate the point cloud using the segmented instance bounding box
	Bounding Box Mode (after segmentation)	Whether Color Is Required for Point Cloud Generation (after segmentation)	Whether the generated instance point cloud needs attached colors
	Mask Mode (after filtering)	-	Generate the point cloud using the filtered instance Mask
	Bounding Box Mode (after filtering)	Bounding Box Scaling Ratio (after filtering)	Generate the point cloud using the filtered instance bounding box
	Bounding Box Mode (after filtering)	Whether Color Is Required for Point Cloud Generation (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 in the project storage folder \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 in the project storage folder \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

Feature Description

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

Use Case

Applicable to scenarios where instance bounding box areas differ greatly. By setting the upper and lower bounds of the bounding box area, noise in the image can be filtered, improving image recognition accuracy and preventing noise from increasing the time consumed by subsequent processing.

Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Minimum Area (pixels)	This parameter sets the minimum filter area for 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 sets the maximum filter area for 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. 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. You can view the instance filtering process in the log.

1.4.2 Filter Based on Bounding Box Aspect Ratio

Feature Description

Instances whose bounding box aspect ratio is outside the specified range will be filtered out.

Use Case

Applicable to scenarios where the bounding box aspect ratios of instances differ greatly.

Parameter Description

Parameter	Description	Default Value	Parameter Range
Minimum Aspect Ratio	The minimum aspect ratio of the bounding box. Instances whose bounding box aspect ratio is lower than this value will be filtered out.	0	[0, 10000000]
Maximum Aspect Ratio	The maximum aspect ratio of the bounding box. Instances whose bounding box aspect ratio is higher than this value will be filtered out.	10000000	[0, 10000000]
Use X/Y Axis Side Length as Aspect Ratio	Unchecked by default, 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 lengths of the longer and shorter sides of the bounding box differ greatly; When checked, the ratio of the side length of the bounding box on the X-axis to that on the 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 the ratio of the length on the X-axis to the length on the Y-axis differs greatly for some abnormally recognized instance bounding boxes.	Unchecked	/

1.4.3 Filter Instances by Class ID

Feature Description

Filter according to the instance class.

Use Case

Applicable to scenarios where the incoming materials contain multiple types of target objects.

Parameter Description

Parameter	Description	Default Value
Retained Class IDs	Retain instances whose class IDs are in the list. Instances whose class IDs are not in the list will be filtered out.	[0]

Example

1.4.4 Filter Based on Side Lengths of the Instance Point Cloud

Feature Description

Filter according to the long side and short side of the instance point cloud.

Use Case

Applicable to scenarios where the distances of the instance point cloud on the x-axis or y-axis differ greatly. By setting the distance range of the instance point cloud, noise in the image can be filtered, improving image recognition accuracy and preventing noise from increasing the time consumed by subsequent processing.

Parameter Description

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

Example

1.4.5 Filter by Class ID Based on the Classifier

Feature Description

Filter instances by classifier-based Class ID. Instances not within the reference classes will be filtered out.

Use Case

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

Parameter Description

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

1.4.6 Filter Based on Three-channel Colors

Feature Description

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

Use Case

Cases where there is a clear color distinction between incorrect instances and correct instances.

Parameter Description

Parameter	Description	Default 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]]
Filter Percentage Threshold	Color pass-rate threshold	0.05	[0,1]
Reverse Filtering	If checked, instances whose proportion outside the color range is lower than the threshold are removed. If unchecked, instances whose proportion within the color range in the instance image is lower than the threshold are removed.	Unchecked	/
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

Feature Description

Filter according to the Confidence score of the instance.

Use Case

Applicable to scenarios where the Confidence levels of instances differ greatly.

Parameter Description

Parameter	Description	Default Value	Parameter Range
Reference Confidence	Retain instances whose Confidence is greater than the threshold and filter instances whose Confidence is lower than the threshold.	0.5	[0,1]
Reverse Filter Result	After reversal, retain instances whose visibility Confidence is lower than the threshold and filter instances whose Confidence is greater than the threshold.	Unchecked	/

Example

1.4.8 Filter Based on Point Cloud Quantity

Feature Description

Filter according to the number of instance point clouds after downsampling.

Use Case

The instance point cloud contains a lot of noise.

Parameter Description

Parameter	Description	Default Value	Parameter Range
Minimum Point Cloud Quantity	The minimum number of point clouds	3500	[1, 10000000]
Maximum Point Cloud Quantity	The maximum number of point clouds	8500	[2, 10000000]
Filter Instances Within the Interval	If checked, instances whose point cloud quantity falls within the interval between the minimum and maximum values are filtered out. If unchecked, instances whose point cloud quantity is outside the interval are filtered out.	Unchecked	/

1.4.9 Filter Based on Mask Area

Feature Description

Filter image masks according to the sum of mask pixels (that is, pixel area) of the detected instances.

Use Case

Applicable to scenarios where instance Mask areas differ greatly. By setting the upper and lower bounds of the Mask area, noise in image masks can be filtered, improving image recognition accuracy and preventing noise from increasing the time consumed by subsequent processing.

Parameter Setting Description

Parameter Name	Description	Default Value	Parameter Range	Unit
Reference Minimum Area	This parameter sets the minimum filter area for the Mask. Instances whose Mask area is lower than this value will be filtered out.	1	[1, 10000000]	pixels
Reference Maximum Area	This parameter sets the maximum filter area for 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

Feature Description

Filter according to the visibility score of the instance.

Use Case

Applicable to scenarios where instance visibility differs greatly.

Parameter Description

Parameter	Description	Default Value	Parameter Range
Reference Visibility Threshold	Retain instances whose visibility is greater than the threshold and filter instances whose visibility is lower than the threshold. Visibility is used to determine how visible an instance is in the image. The more the target object is occluded, the lower the visibility.	0.5	[0,1]
Reverse Filter Result	After reversal, retain instances whose visibility is lower than the threshold and filter instances whose visibility is greater than the threshold.	Unchecked	/

1.4.11 Filter Instances with Overlapping Bounding Boxes

Feature Description

Filter instances whose bounding boxes intersect and overlap.

Use Case

Applicable to scenarios where instance bounding boxes intersect each other.

Parameter Description

Parameter	Description	Default Value	Parameter Range
Bounding Box Overlap Ratio Threshold	The threshold for the ratio of the intersecting area of bounding boxes to the area of the instance bounding box	0.05	[0, 1]
Filter the Instance with the Larger Bounding Box Area	If checked, the instance with the larger area among two instances whose bounding boxes intersect will be filtered out. If unchecked, the instance with the smaller area among two instances whose bounding boxes intersect will be filtered out.	Checked	/

Example

Newly added Filter Enclosed Instances. Run with the default value and check 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 did not intersect.

Set Bounding Box Overlap Ratio Threshold to 0.1 and check Whether to Filter the Larger Instance. Check the instance filtering process in the log. 9 instances were filtered out because the ratio of the intersecting 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 non-intersecting bounding boxes.

Set Bounding Box Overlap Ratio Threshold to 0.1 and uncheck Whether to Filter the Larger Instance. Check the instance filtering process in the log. For 9 instances, the ratio of the intersecting area of the bounding boxes to the instance bounding box area was greater than 0.1, but 2 of them were retained because their bounding box areas were smaller than those of the instances intersecting with them. Therefore, 7 instances were filtered out. 3 instances were retained because the ratio of the intersecting area of the bounding boxes to the instance bounding box area was less than 0.1, and 2 instances had non-intersecting bounding boxes.

1.4.12 [Master] Filter Instances with Concave/Convex Masks Based on Mask/Outer Polygon Area Ratio

Feature Description

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

Use Case

Applicable to cases where the target object Mask has jagged/concave-convex edges.

Parameter Description

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

1.4.13 [Master] Filter Based on Average Point Cloud Distance

Feature Description

Filter based on the average value of the distances from points in the point cloud to the fitted plane, removing uneven instance point clouds.

Use Case

Applicable to scenarios where the point cloud of a planar target object is curved.

Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit
Plane Segmentation Distance Threshold (mm)	Extract a plane from the curved instance point cloud. Points whose distance to the plane is less than this threshold are considered points on the plane.	10	[-1000, 1000]	mm
Average Distance Threshold (mm)	The average value of the 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	If checked, instances whose average distance from points to the extracted plane is less than the average distance threshold are filtered out. If unchecked, instances whose average distance from points to the extracted plane is greater than the average distance threshold are filtered out.	Unchecked	/	/

1.4.14 [Master] Filter Occluded Instances Based on Mask/Bounding Box Area Ratio

Feature Description

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

Use Case

Used to filter instances of occluded target objects.

Parameter Description

Parameter	Description	Default Value	Range
Minimum Area Ratio	The lower bound of the Mask/bounding box area ratio range. The smaller the ratio, the higher the degree of occlusion of the instance.	0.1	[0,1]
Maximum Area Ratio	The upper bound of the Mask/bounding box area ratio range. The closer the ratio is to 1, the lower the degree of occlusion of the instance.	1.0	[0,1]

1.4.15 [Master] Determine Whether All Highest Layer Instances Have Been Fully Detected

Feature Description

As one of the error-proofing mechanisms, determine whether all instances in the Highest Layer have been detected. If any instance in the Highest Layer has not been detected, an error will be reported and the Workflow will end.

Use Case

Applicable to scenarios where one photo is used for multiple picks or where picking must be performed in sequence, preventing missed picks from affecting subsequent tasks due to incomplete instance detection.

Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Parameter Tuning
Distance Threshold	Used to determine the target objects in the Highest Layer. If the distance between a point and the highest point of the target object point cloud is less than the distance threshold, the point is considered a Highest Layer point cloud point; otherwise, it is not considered a Highest Layer point cloud point.	5	[0.1, 1000]	mm	It should be smaller than the height of the target object.

1.5 Instance Sorting

Feature Description

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

Use Case

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

If sorting is not required, you do not need to configure a specific strategy.

1.5.1 Reference Coordinate System

Feature Description

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

Use Case

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

Coordinate-related strategies should be used only after the Reference Coordinate System is set.

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's 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's 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's center point in this coordinate system.
Pixel Coordinate System	The origin of the coordinate system is the top-left vertex of the RGB image and is a 2D planar coordinate system; X and Y are the x and y values of the bbox detection box, and Z is 0.

1.5.2 General Grasping Strategy

Parameter Description

Parameter	Description	Default Value
Strategy	Select which value to use for grouping and sorting and how to sort, including the XYZ coordinate values of the instance point cloud center, the bounding box aspect ratio, the distance from the instance point cloud center to the ROI center, and more. Multiple strategies can be superimposed and executed sequentially in order.	Instance Point Cloud Center X Coordinate Value 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 selected is “Instance Point Cloud Center Z Coordinate Value from Large to Small (mm),” then the Z coordinates of all instance point cloud centers are sorted from large to small, and then grouped according to the step size, with the corresponding instances also divided into several groups.	/
Extract the First Several Groups	After grouping and sorting, how many groups of instances need to be retained	10000

Strategy Name*	Description	Grouping Step Size		Extract the First Several Groups
Strategy Name*	Description	Default Value	Range	Default Value
Instance Point Cloud Center XYZ Coordinate Values from Large to Small / from Small to Large (mm)	Use the XYZ coordinate values of the point cloud center of each instance 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 / from Both Sides to the Middle Along the XY Coordinate Axes of the Instance Point Cloud Center (mm)	Use the XY coordinate values of the point cloud center of each instance 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 Values from Large to Small / from Small to Large (mm)	Use the XY coordinate values of the center point of each instance bounding box 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 longer side to the shorter side of the bounding box for grouping and sorting	1	(0, 10000]	10000
From the Middle to Both Sides / from Both Sides to the Middle Along the XY Coordinate Axes of the Bounding Box Center (mm)	Use the XY coordinate values of the center point of the bounding box 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
Target Object Type ID from Large to Small / from Small to Large	Use the ID of the target object type for grouping and sorting, applicable to multi-class target object scenarios	1	[1, 10000]	10000
Local Feature ID from Large to Small / from Small to Large	Use the ID of local features 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 the Instance Point Cloud Center to the ROI Center from Near to Far / from Far to Near (mm)	Use the distance between the point cloud center of each instance and the center of the ROI coordinate system for grouping and sorting	200.000	(0, 10000000]	10000
Distance from the Instance Point Cloud Center to the Robot Coordinate Origin from Near to Far / from Far to Near (mm)	Use the distance between the point cloud center of each instance 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) Feature Description

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

Customize the picking order for each target object. If the General Grasping Strategy makes it difficult to achieve picking or it is hard to tune appropriate parameters because of issues such as point cloud noise, you can consider using a Custom Grasping Strategy.
The Custom Grasping Strategy is applicable to depalletizing scenarios and ordered loading and unloading scenarios, but not to random picking scenarios, because the target objects in a Custom Grasping Strategy must be ordered (that is, the order of target objects is fixed).
The Custom Grasping Strategy can only be combined with a single General Grasping Strategy, and the strategy can only be selected as Z coordinate from small to large.

(2) Parameter Description

Parameter	Description	Default Value	Range	Parameter Tuning
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 target object instance.	0.7	[0,1]	The larger the threshold, the stricter the matching, and the worse the anti-interference capability. Minor shape or position changes may cause matching failure, potentially matching the wrong custom strategy and sorting in the wrong order.
Pixel Distance Threshold	Represents the dimensional difference between a 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 placement of target objects across different layers is similar, the custom strategy may still be mismatched, resulting in an incorrect sorting order.

(3) Select the Reference Coordinate System

When using the Custom Grasping Strategy, only the Camera Coordinate System or Pixel Coordinate System can be selected.

If there are multiple layers of target objects, select the Camera Coordinate System; if there is only one layer of target objects, select the Pixel Coordinate System.

(4) Strategy, Grouping Step Size, and Extract the First Several Groups

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

(5) Take Photo / Add Local Image

Click Take Photo to acquire an image from the currently connected Camera, or click Add Local Image to import an image locally. For however many layers there are or however many different placement forms there are for target objects, you need to take photos or add local images to obtain that many images. If every layer is the same, only one image is needed. Right-click the image to delete it.

On the acquired image, press and hold the left mouse button and drag to annotate the bbox. The DELETE key can be used to delete the annotated bbox step by step.

2. 3D Calculation

2.1 Preprocessing

The preprocessing of 3D calculation processes the 3D point cloud before pose estimation and Pick Point generation for instances.

2.1.1 Point Cloud Clustering Denoising

Feature

Remove noise through point cloud clustering.

Use Case

There is a lot of noise in the instance point cloud.

Parameter Description

Parameter Name	Description	Default Value	Range	Unit	Tuning Recommendation
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 does not need to be changed. It should be greater than the point spacing of the target object point cloud and smaller than the minimum distance between the target object point cloud and the noise point cloud.
Minimum Point Count Threshold	Point cloud clusters with fewer points than this threshold will be filtered out.	100	[1,10000000]	/	Generally does not need to be changed. Increase the Minimum Point Count Threshold according to the amount of noise in the instance point cloud.
Maximum Point Count Threshold	Point cloud clusters with more points than this threshold will be filtered out.	100000	[1,10000000]	/	Generally does not need to be changed. If the number of target object point cloud points is greater than 100000, increase the Maximum Point Count Threshold.
Select the Top Point Cloud in ROI	If checked, the average Z coordinate of point clouds of the same category 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. If unchecked, all point clouds that meet the conditions are retained.	Unchecked	/	/	If the target object point cloud is above the noise point cloud, checking this option retains the target object point cloud. If the target object point cloud is below the noise point cloud, you should check this option and set the Z-axis of the ROI coordinate system downward in order to retain the target object point cloud.
Visualize Process Data	If checked, the denoised point cloud is saved and can be viewed in C:_data	Unchecked	/	/	In debugging mode, you can check this option if you need to save visualized data.

2.1.2 Point Cloud Downsampling

Feature

Sample the point cloud according to the specified point spacing during downsampling.

Use Case

If the Camera precision is high and causes an excessive number of instance point cloud points, this option should be checked when logs report an error.

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 Tuning
- Set according to the point spacing of the instance point cloud. The larger the value, the fewer points remain after downsampling.

2.1.3 Calculate Normals

Feature

Calculate point cloud Normals for subsequent point cloud processing.

Parameter Description

Parameter Name	Description	Default Value	Range
Fix Normal Direction	Whether to fix the Normal direction when calculating Normals. After it is enabled, the Normal direction is determined by the reference vector.	Checked	/
Number of Neighboring Points 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]
Direction Reference Vector	The reference vector for the direction in normal calculation	[0,0,1]

Parameter Tuning

Cannot be changed.

2.1.4 Point Cloud Contour Extraction

Feature

Extract the contour of the target object from the instance point cloud.

Use Case

When using 2.2.4 **Enable Contour Mode **, Point Cloud Contour Extraction should also be checked.

Parameter Description

Parameter Name	Description	Default Value	Range	Unit	Tuning Recommendation
Reference Radius (mm)	The search radius for extracting contours from the instance point cloud	10	[0.1,10000000000]	mm	The reference radius is recommended to be set to 1/2 of the point spacing used for downsampling in 2.1.2Point Cloud Downsampling, and it must be greater than the point cloud spacing.
Point Cloud Contour Search Mode		Normal Mode	Normal Mode; Plane Mode

Example

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

Feature

Filter the point cloud according to hue, saturation, and value in the point cloud image to select regions of the point cloud that match the target range.

Parameter Description

Parameter Name	Description	Default 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 Cloud by Three-channel Colors

Feature

Filter the point cloud by three-channel colors to select regions of the point cloud that match the target range.

Parameter Description

Parameter Name	Description	Default Value	Range
Filter Point Cloud by Three-channel Colors - 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 Colors - 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 Region

Feature

Select point clouds within the ROI 3D region from the instance point cloud. This default function cannot be deleted.

Example

2.1.8 Remove Points Whose Normals Exceed the Angle Threshold

Feature

Remove point clouds whose angle between the Normal and the axis direction of the standard Normal is greater than the Normal angle threshold.

Use Case

Based on quadrilateral ordered loading and unloading.

Parameter Description

Parameter Name	Description	Default Value	Range	Unit
Angle Threshold	Point clouds greater than this angle threshold are considered different instances.	15	[-360, 360]	/
Standard Normal Axis Direction	The angle formed between the Normal of the point cloud and the axis direction of the standard Normal	Z-axis	X/Y/Z-axis	/
Whether to Use ROI Coordinate System	If checked, the angle between the Normal and the axes of the ROI coordinate system is calculated. If unchecked, the angle between the Normal and the axes of the camera coordinate system is calculated.	Unchecked	/	/

Parameter Tuning

2.1.9 Point Cloud Plane Segmentation

Feature

Retain or remove the plane with the largest number of points in the instance point cloud.

Use Case

The instance point cloud contains a noisy plane.

Parameter Description

Parameter	Description	Default Value	Range	Unit	Tuning Recommendation
Reference Distance for Plane Fitting (mm)	If the distance from a point to the plane is less 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 does not need to be changed
Remove the Plane	If checked, the plane with the largest number of points is removed. If unchecked, the plane with the largest number of points is retained.	Unchecked	/	/	If the plane with the largest number of points is the target object, retain the plane and leave it unchecked. If the plane with the largest number of points is noise, remove the plane and check it.

Example

2.1.9 Point Cloud Outlier Removal

Feature

Identify and remove outlier noise in the point cloud to improve point cloud quality.

Use Case

The instance point cloud contains a large amount of outlier noise.

Parameter Description

Parameter Name	Description	Default Value	Range
Reference Number of Neighboring Points	The number of neighboring points around each point in the point cloud, that is, the neighborhood size. For dense point clouds, even a smaller neighborhood is enough to reflect the features of the target object, so a smaller value can be used. For sparser point clouds, a larger neighborhood is needed to reflect the features of the target object, so a larger value should be used.	30	[1, 10000000]
Standard Deviation Multiplier	Used to identify outlier noise. If the deviation of a point's coordinates from 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 removed, but it may lead to misjudgment and removal of important target object features. The larger the value, the fewer points are considered outliers and removed, but some outliers may be retained and affect target object recognition accuracy.	0.005	[0.0001, 2]

Parameter Tuning

Generally does not need to be changed. If the point cloud becomes too sparse after Point Cloud Outlier Removal, increase the Standard Deviation Multiplier.

Example

2.1.10 Filter Out Point Clouds Whose Object Distance Exceeds the Limit

Feature

Filter out point clouds in the specified direction, remove noise points, and improve image recognition accuracy.

Parameter Description

Parameter	Description	Default Value	Parameter Range	Unit	Tuning Recommendation
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)	In the specified axis direction, if the distance between the lower-layer point cloud and the target object 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 out point clouds under the selected coordinate system	ROI Coordinate System	Camera Coordinate System; ROI Coordinate System; Object's Own Coordinate System	/

Example

2.1.11 Optimize the Mask According to the Point Cloud

Feature

Based on the point cloud within ROI 3D, remove point clouds in the Mask that are not within ROI 3D to improve Mask accuracy.

2.2 Quadrilateral Pose Estimation

2.2.1 Fitting Reference Distance (mm)

Feature

The model calculates an ideal quadrilateral based on the instance point cloud. Point clouds whose distance to the ideal quadrilateral is less than the fitting reference distance are fitted into a quadrilateral.

Use Case

Applicable to quadrilateral-based ordered loading and unloading scenarios.

Parameter Description

Default value: 2

Range: [0.1, 1000]

Unit: m

Parameter Tuning
- The log for fitting a quadrilateral is shown below.
- If the log reports "Unable to fit a quadrilateral", you should enter the quadrilateral length and width in advance on the target object page before running.
- If the log still reports "Unable to fit a quadrilateral" after adding the length and width prior, increase the Fitting Reference Distance so that more point clouds are included in fitting the quadrilateral. If the value is too large, noise points may be included.

2.2.2 Fitting Score Threshold

Feature

Calculate the ratio of the number of point cloud points of the fitted quadrilateral to the number of point cloud points of the ideal quadrilateral. Fitted quadrilaterals whose ratio is less than the fitting score threshold will be filtered out.

Use Case

Quadrilateral-based ordered loading and unloading, and quadrilateral-based random picking.

Parameter Description

Default value: 0.5

Range: [0,1]

Parameter Tuning

If the log reports "Quadrilateral point cloud detected, filtered according to score" as shown below, reduce the Fitting Score Threshold according to the fitting score in the log.

Example

When the fitting score threshold is 0.6, instance 5 does not fit a quadrilateral, and 5 Pick Points are generated.

When the fitting score threshold is 0.5, instance 5 fits a quadrilateral, and 6 Pick Points are generated.

2.2.3 Plane Fluctuation Range

Feature

The degree of unevenness allowed for the main plane of the quadrilateral.

Use Case

Quadrilateral-based ordered loading and unloading.

Parameter Description

Default value: 0.005

Range: [0, 1]

Parameter Tuning

First, run with the default value. If many obviously correct objects are not detected, try appropriately increasing this value. If many obviously distorted and incorrect quadrilaterals are mistakenly identified as targets, try appropriately decreasing this value.

Do not adjust too much each time. Fine-tune in increments such as 0.001 or 0.002, and then observe the effect changes.

It works together with "Fitting Score Threshold". If the score threshold is already high, you can appropriately relax the plane fluctuation range. If the score threshold is low, a stricter plane fluctuation range may be needed to ensure quality.

2.2.4 Object Pose Correction

Fine Matching Search Radius (mm)

Feature

During Fine Matching, the Template point cloud is matched with the instance point cloud, 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 the nearest point in the instance point cloud. If the distance between a point and its nearest point is less than the Fine Matching Search Radius, the two points are considered matchable; otherwise, they are considered unmatchable.

Use Case

Planar target object ordered loading and unloading, planar target object random picking, and planar target object positioning and assembly scenarios.

Parameter Description

Default value: 10

Range: [1, 500]

Unit: mm

Parameter Tuning

Usually no change is needed.

Fine Matching Search Mode

Feature

The method used by the Template point cloud to search for the nearest point in the instance point cloud during Fine Matching.

Use Case

If the Fine Matching effect between the Template point cloud and the instance point cloud is poor, adjust this function.

Parameter Description

Parameter	Description
Point to Point	Each point in the Template point cloud searches for its nearest point in the instance point cloud (the point with the shortest straight-line distance within the search radius), which is applicable to all target objects.
Point to Plane	Each point in the Template point cloud searches for its nearest point in the instance point cloud along its Normal, which is applicable to target objects with obvious geometric features.
Combination of Point to Point and Point to Plane	First use point-to-point mode to optimize the target object's pose in the instance point cloud, and then use point-to-plane mode to optimize the target object's pose in the instance point cloud. This is applicable to target objects with obvious geometric features. Using this method will increase Takt Time

Enable Contour Mode

Feature

Extract contour point clouds from the Template point cloud and the instance point cloud for coarse matching.

Use Case

For planar target object ordered loading and unloading, planar target object random picking, and planar target object positioning and assembly scenarios, if the results of coarse matching using key points are poor, this function should be checked to perform coarse matching again using contour point clouds.

Parameter Tuning

The result of coarse matching will affect the Fine Matching result. If the Fine Matching result is poor, you can check Enable Contour Mode

Contour Search Range (mm)

Feature

The search radius for extracting contour point clouds from the Template point cloud and the instance point cloud.

Use Case

General target object ordered loading and unloading, general target object random picking, and general target object positioning and assembly scenarios.

Parameter Description

Default value: 5

Range: [0.1, 500]

Unit: mm

Parameter Tuning

If the value is smaller, the search radius for contour point clouds is smaller, which is suitable for extracting detailed target object contours, but the extracted contours may contain outlier noise;

If the value is larger, the search radius for contour point clouds is larger, which is suitable for extracting broader target object contours, but the extracted contours may ignore some detailed features.

Save Pose Estimation [Fine Matching] Data

Feature

If checked, Fine Matching data is saved.

Use Case

Planar target object ordered loading and unloading, planar target object random picking, planar target object positioning and assembly, and planar target object positioning and assembly (matching only).

Example

Fine Matching data is saved in the project save path \Project Folder\data\PickLight\Historical Data Timestamp\Builder\pose\output folder.

2.3 Empty ROI Check

Feature

Determine whether there are any target objects (point clouds) remaining in ROI 3D. If the number of 3D points in ROI 3D is less than this value, it means no target object point clouds remain, and no point cloud will be returned at this time.

Parameter Description

Default value: 1000

Range: [0, 100000]

Procedure

Set the minimum point count threshold for ROI 3D. If the value is lower than this threshold, the target object point cloud in ROI 3D is insufficient, and it is therefore determined that there is no target object 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.

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

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

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 range2image 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

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
Strategy name*	Description	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.

How to Use Shadow Mode

Visual Parameter Adjustment Guide for Ordered Loading and Unloading Based on Quadrilaterals