Validate Box Dimensions

Function Description

This step can determine whether the input box dimensions are valid. Boxes with large dimension errors will be marked as abnormal boxes.

Use Cases

This step is commonly used in box depalletizing scenarios to determine whether the recognized box dimensions are valid. Typically used after the “Calculate Pose and Dimensions from Planar Point Cloud” step.

Inputs

• Box Pose (Required): Pose of the box to be validated.

• Box Dimensions (Required): Dimensions of the box to be validated.

• Actual Dimensions (Required): Known standard box dimensions. This parameter needs to be input when “Box Dimension Information Type” is set to “KnownBoxDimension”.

Outputs

• Box Pose: Pose of valid boxes.

• Box Dimensions: Valid box dimensions.

Parameters

Box Dimension Information Type

Select according to whether the standard box dimensions are known:

• KnownBoxDimension: Standard box dimensions are known

• UnknownBoxDimension: Standard box dimensions are unknown

The parameter settings for both types are described below.

Known Box Dimensions (KnownBoxDimension)

When the standard box dimensions are known, this step compares the input box dimensions with the known standard dimensions. Boxes with errors within the allowable range are considered valid.

• Known Box Dimension Filter Type

  This parameter is used to select the output method for results:

  • JustWarningAndKeepAllDimensions: Only issues a warning when invalid box dimensions are detected, without deleting any output. Recommended for debugging phase.

  • JustRemoveInvalidBox: Removes invalid box dimensions and outputs valid box dimensions. Recommended for production phase.

  • RemoveAllIfExistInvalidBox: As long as one invalid box dimension exists, all box dimensions (including valid ones) are removed. Applicable to scenarios with high requirements for box dimension consistency.

• Box Dimension Error Range

  Maximum allowable deviation between input dimensions and standard dimensions. If this value is exceeded, the input box dimension is determined to be invalid.

Unknown Box Dimensions

When the standard box dimensions are unknown, this step compares the input box dimensions with each other. If a box’s dimensions are within the allowable deviation from other boxes, its dimensions are considered valid.

• Unknown Box Dimension Filter Type

  This parameter is used to select the output method for results:

  • JustWarningAndKeepAllDimensions: Only issues a warning when invalid box dimensions are detected, without deleting any output. Recommended for debugging phase.

  • RemoveAllIfExistInvalidBox: As long as one invalid box dimension exists, all box dimensions (including valid ones) are removed. Applicable to scenarios with high requirements for box dimension consistency.

• Box Dimension Error Range

  Maximum allowable deviation between input dimensions. If this value is exceeded, the input box dimension is determined to be invalid.