Calculate Mask Center Pose

Function Description

This step calculates the center point of a mask region.

Use Cases

This step is typically used after AI-based object segmentation to determine grasp points. It is commonly used in depalletizing projects.

Inputs

  • Mask Image (Required): Mask image used to calculate the center point.

  • Original Poses (Optional): Reference poses of the mask regions.

Outputs

  • Poses: Outputs the 3D coordinates of the mask center poses. The X/Y axes of the pose orientation follow the direction of the mask bounding box.

  • Mask Dimensions: Outputs the physical dimensions of the object corresponding to the mask.

Parameters

  • Show Point Cloud in Selected Frame: Displays poses in either the camera reference frame or the robot reference frame.

  • Mask Center Types

    • Geometry Center: Calculates the center from the average of all pixels in the mask region. Suitable for objects with regular shapes and uniform density.

    • Rotated Bounding Box Center: Calculates the minimum rotated rectangle of the mask and uses its center point. Suitable for objects with irregular shapes.