3D Localization Configurator

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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.

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

Configuration Localization.jpg


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