Vision Output

Function Description

This step sends the vision results of the current project to the communication component for subsequent grasping tasks.

Note: Only one “Output” step can be added to a vision project.

Use Cases

This step is typically used to send various vision results from the current project to other services.

Inputs

  • Unnamed (Required): It is recommended to connect the grasp point output pose list. When other data types are connected, the vision project can run successfully, but the grasp pose information cannot be obtained through communication commands.

  • Labels (Optional): The object label list corresponding to the pose list, with the same length as the pose list.

  • Size Vector (Optional): The object 3D dimension list corresponding to the pose list, with the same length as the pose list.

  • Pick Box Poses (Optional): The pose of the pick box.

  • Pick Box Sizes (Optional): The 3D dimensions of the pick box.

  • User Labels (Optional): User-defined labels.

Outputs

  • None.

Parameters

  • Port Type

    • Custom: Currently not effective.

    • Predefined (Vision Result): The output port is system default.

  • Custom Port Names

    Click the “Open Editor” button to enter the Vision Output Editor. The upper half of this window displays the system pre-defined output ports, and the lower half displays user-defined output ports.

    System pre-defined ports include: poses, labels, sizes, offsets, objectIndices, sceneobject_names, sceneobject_sizes, and sceneobject_poses. Check a port to add it, but the names of these ports cannot be modified.

    Click the “+” button and fill in the port name to add a custom port. Custom ports will be arranged in alphabetical order by their names, and will be sent in the same order during communication.