Check Pose Repeatability by Statistics

Function Description

This step evaluates pose repeatability in a vision project.

In practical applications, you can take 10~20 photos of the same workpiece at different positions, collect data repeatedly, and statistically analyze the pose data output by the project (including Range, Stdev, Min, Max, Mean), thereby evaluating the stability of poses and other related data.

Use Cases

This step can be used to assess camera stability or verify whether parameter tuning improved the project.

This step can be connected after 3D matching related steps to statistically analyze the stability of poses obtained from template matching. It can also be connected before the “Vision Output” step. With the workpiece position fixed, you can collect image data multiple times through the camera to verify the stability and recognition error of the positioning system.

After running the project, this step will generate statistical data files in Excel format to the specified path. Users can view detailed data values and statistical results in this file.

Inputs

  • Pose: Pose or numerical data to be statistically analyzed.

Outputs

  • Statistics: According to different input data types, outputs corresponding statistical results.

    • If the input is poses, outputs the range, standard deviation, minimum, maximum, and mean of the X, Y, Z coordinates and rotation angles (Z, Y, X in Euler angles) of the poses in list format.

    • If the input is numerical values, outputs the range, standard deviation, minimum, maximum, and mean of the input numerical values in list format.

Parameters

Data to Be Statistically Analyzed

  • Input Data Type

    Specifies the data type input to this step. Different input data types correspond to different input ports.

    • PoseListInput: Input one or more groups of pose data.

    • NumberListInput: Input a single value or value list.

  • Output Data Type

    Displays the output data type corresponding to different input data types.

  • Position Coordinate Deviation Range (0-1000)

    Only displayed when “Input Data Type” is set to PoseListInput.

    Sets the upper limit of position coordinate deviation for input poses, unit is millimeters (mm). After setting, if the difference between the minimum and maximum values exceeds this threshold, this step will report an error according to the setting of the “Outlier Handling” parameter.

    Value range: 0~1000

  • Euler Angle Deviation Range (0-360)

    Only displayed when “Input Data Type” is set to PoseListInput.

    Sets the upper limit of Euler angle coordinate deviation for input poses, unit is degrees (°). After setting, if the difference between the minimum and maximum values exceeds this threshold, this step will report an error according to the setting of the “Outlier Handling” parameter.

    Value range: 0~360

Statistical Data Saving

  • Restart

    During the statistical data process, if the workpiece position changes or abnormal data is introduced, this parameter is used to decide whether to restart the statistical data. After checking, a “Restart” marker will be added to the output data. Data before this marker corresponding to the timestamp will not be included in the statistical range and will be displayed in gray in the file. After this step runs successfully once, this parameter will automatically reset to unchecked. If not checked, abnormal data will always be retained in the statistical results.

    Adjustment note: Check this option if you need to restart statistical data.

  • Outlier Handling

    Only displayed when “Input Data Type” is set to PoseListInput.

    When abnormal values are detected during the statistical process, specifies the corresponding handling method.

    Optional values: Report error immediately upon detecting outlier, Record outlier and mark.

    • Report error immediately upon detecting outlier: When an abnormal value is detected, the project run stops immediately and reports an error (including the following three error types), and abnormal data will not be written to the file.

      • Error caused by inconsistency between the new input data length and old data length → It is recommended to try using the “Unpack Data” step to solve

      • Error caused by position coordinate deviation or Euler angle deviation exceeding threshold → It is recommended to adjust position coordinate deviation range or Euler angle deviation range parameter values

      • Error caused by inability to save data due to statistical data save file being occupied → Close the data save file and rerun the project

    • Record outlier and mark: When an abnormal value is found, no error will be reported. Abnormal data will be written to the file and participated in statistics, and abnormal data will be marked in red.

  • Decimal Places (0-8)

    Sets the number of decimal places to retain for statistical values. For example, when this parameter is set to 2, this step uses rounding to keep two decimal places for the calculated statistical values.

    Value range: 0~8

  • Base File Name

    Sets the save name for the statistical data file. If not set, an error will be reported after running the project. If the base file name is modified, the system will automatically check the “Restart” parameter to restart statistical data collection.

    Tip: When the workpiece position moves or abnormal data is introduced, you can check the “Restart” parameter and modify the “Base File Name” to create a new data file to recollect data.

  • Save Folder Path

    Sets the save path for the statistical data file.