Difference between revisions of "3D Localization Configurator"
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== 3D visualiser == | == 3D visualiser == |
Revision as of 12:48, 26 July 2018
3D Localization Configurator is a standalone application used to generate configuration file for Photoneo 3D Localization SDK. The configuration file contains the CAD of the searched object, defined gripping point and the localization parameters.
Localization Configurator requires PhoXi Control Application to connect to 3D scanner or file camera.
Contents
Overview
To download Localization SDK, visit our product webpage: Localization SDK
The Localization Configurator is installed together with the SDK. It serves as a simple wizard to generate PLCF file, which is used as an input for Localization SDK. The example code of how to use the SDK is located in installation folder, which is usually
- C:\Program Files\PhotoneoSDK\Localization\Examples\ in Windows
- \opt\PhotoneoSDK\Localization\Examples\ in Ubuntu
Copy the example directory outside the Program Files directory (because of the user rights) and use CMake to generate the project.
Setting the gripping point
The gripping point defines the point where the object should be picked by the gripper. Every gripper has a defined tool point. Gripping point and tool point together define the mutual position of the gripper and gripped object for bin picking applications.
In Localization Configurator, the gripping point has a position and orientation with respect to CAD model coordinate system. When the localization process finds the object, it returns the position and orientation of this gripping point (usually in robot coordinate space).
Localization parameters
- Overlap with model
- This percentage express how many points have to be seen on the object to consider the result correct
- Higher percentage leads to higher accuracy and longer computation time
- Amount of time
- If checked, the localization process stops after the defined time limit
- This constrain can be combined with "Number of instances"
- Number of instances
- If checked, the localization process stops after the defined number of objects is found
- This constrain can be combined with "Amount of time"
- Use Smart Memory
- If checked, the localization process remembers the positions of found objects from the last run and uses this information in new search
- This setting can strikingly speed up the localization process
- The assumption for using this setting is that the scene is mostly static (only few parts change their position between consecutive searches)
- Check occlusions only in a distance to Gripping Point
- If checked, the calculation of the object occlusion is limited only to the area in the defined distance to the gripping point
- By default (this option is not checked), object is considered occluded when there is another object on top of it (from the camera perspective)
- The assumption for using this setting is that the object can be safely picked also when there are other objects on top of it (e.g. these objects will fall down without damage when the underlying object is being picked)
Advanced parameters
3D visualiser
3D visualiser helps to test the localization parameters on specific object. It displays the 3D point cloud acquired from 3D scanner or file camera via PhoXi Control Application.
After starting the localization process, the CAD models of found object are drawn into the point cloud. The color of object indicates whether the object is occluded (blue color) or not occluded (gold color). Gold objects are the most suitable to pick.
Controls
- Left mouse button drag
- rotate the scene
- Mouse wheel or vertical right mouse button drag
- Zoom in/out
- Mouse wheel drag or SHIFT + left mouse button drag
- move the scene
- CTRL + left mouse drag
- tilt the scene
- Move mouse over some point and press F
- Set the focus on this point
- Press +
- Increase the size of points
- Press -
- Decrease the size of points