Simplify Trajectory

Function Description

This step simplifies the trajectory generated from the input point cloud and outputs the simplified pose list.

Use Cases

This step simplifies the trajectory by reducing the number of trajectory points while preserving the overall shape as much as possible.

Input

  • Point Cloud: The input point cloud used to generate the trajectory.

Output

  • Planned Trajectory: The simplified trajectory pose list.

Parameters

Sorting Parameters

  • Sort Mode

    Specifies the sort mode for trajectory points: precise sorting (default) or rough sorting.

  • Neighbor Count

    • In rough sorting mode, this parameter represents the number of neighboring points to retrieve from the end of the current trajectory each time.

    • In precise sorting mode, this parameter limits the maximum number of neighboring points each point can search for within a local range.

    Default value: 40

Smoothing Parameters

  • Gaussian Standard Deviation

    Controls the degree of smoothing. A larger value produces a smoother trajectory but may lose detail.

    Default value: 1.00 mm

  • Smoothing Radius

    Represents the window size for the smoothing process, determining the range of trajectory points involved in the smoothing calculation. The unit is the number of points.

    Default value: 5

  • Distance Threshold

    Determines whether the trajectory points around the point to be smoothed participate in the smoothing calculation. When the distance between the point to be smoothed and a surrounding trajectory point exceeds this value, the surrounding point will not participate in the smoothing calculation.

    Default value: 10.00 mm

    Tuning Suggestion: The default value is recommended.

Simplification Parameters

  • Max Deviation

    Represents the maximum allowable deviation when simplifying the trajectory. A larger deviation results in fewer trajectory points, but the trajectory shape may be distorted.

    Default value: 0.30 mm

  • Force Keep Distance

    If the distance between two trajectory points in the original trajectory exceeds this value, both points will be preserved.

    Default value: 10.00 mm

Visualization Settings

  • Show Point Cloud in Selected Coordinate System

    Specifies whether to display the point cloud in the Camera Coordinate System (default) or the Robot Coordinate System.

  • Visualization Stage

    Selects the content to be visualized. Choose based on actual requirements:

    • After trajectory pose generation

    • After trajectory point sorting

    • After trajectory smoothing

    • After trajectory simplification (default)