Fix ROI box

Now that you know how to define and modify a ROI box, you need to decide where it is attached to. The ROI box can be attached to either the camera or the robot base. This distinction is meaningful for robot-mounted camera scenarios:

Camera frame

A ROI box attached to the camera moves relative to the robot base as the robot end-effector (and camera) move. To define the ROI box, a running connection between Pickit and the robot is not required.

../../_images/Roi-attached-to-camera.png

Robot base frame

A ROI box attached to the robot base remains stationary relative to the robot base as the robot end-effector (and camera) move.
This is the recommended attachment for camera-on-robot scenarios. To define the ROI box, a running connection between Pickit and the robot is required.

Refer to the Attach the ROI Box to the robot base for picking objects from a big bin article for an example application.

../../_images/Roi-attached-to-robot-base.png