Validate Box Object Masks

Function Description

Judges whether box masks meet requirements according to specified rules, and outputs a list of masks that meet requirements.

Use Cases

Commonly used in carton depalletizing to determine whether carton masks meet requirements.

Inputs

  • Mask Image (Required): Box mask image to be validated.

  • Box Pose (Required): The pose of the box.

  • Real Dimensions (Optional): The real dimensions of the box. This port can be connected when the step parameter “Dimension Validation” is checked.

Outputs

  • Valid Mask List: Box mask images that meet requirements.

  • Valid Poses: Box poses that meet requirements.

  • Result List: Mask validation result list (Boolean list).

Parameters

Dimension Validation

When mask dimension validation is enabled, this step compares the mask dimensions with the real dimensions. Masks with dimension errors within the allowable range are considered to meet dimension requirements.

  • Dimension Validation

    • Checked: Enable box mask dimension validation.

    • Unchecked: Disable box mask dimension validation.

  • Dimension Error Range

    The maximum allowable deviation of box dimensions from real dimensions. Those exceeding this value are judged as not meeting dimension requirements. Unit is millimeters (mm).

  • Filtering Type

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

    • DeleteInvalid: Only output box mask images that meet dimension requirements. Recommended for production stage.

    • DeleteAll: As long as there is one box mask image that does not meet dimension requirements, all mask images (including those that meet dimension requirements) are removed. Applicable to scenarios with high requirements for box mask dimension consistency.

Rectangularity Validation

When mask rectangularity validation is enabled, this step calculates the box mask rectangularity (the ratio of mask area to the area of the minimum bounding rectangle of the mask). If the ratio is greater than the minimum rectangularity threshold, the box mask meets rectangularity requirements.

  • Rectangularity Validation

    • Checked: Enable box mask rectangularity validation.

    • Unchecked: Disable box mask rectangularity validation.

  • Minimum Rectangularity Threshold

    The minimum requirement for rectangularity. Rectangularity = Mask area / Minimum bounding rectangle area.

    If the calculated mask rectangularity is less than this threshold, it is judged as not meeting rectangularity requirements, and the mask image will be discarded.

  • Filtering Type

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

    • DeleteInvalid: Only output box mask images that meet rectangularity requirements. Recommended for production stage.

    • DeleteAll: As long as there is one box mask image that does not meet rectangularity requirements, all mask images (including those that meet rectangularity requirements) are removed. Applicable to scenarios with high requirements for box mask rectangularity consistency.