Viewer

The Pickit viewer is the main component of the Pickit web interface for providing visual feedback on the camera view and detection results. Textual and quantitative information from the detection results is provided by the complementary Detection grid component.

The Pickit viewer consists of a number of 2D and 3D views arranged in tabs:

The following overlays are shown in all views:

  • Top-left: Camera ID and indicator that a correct camera calibration was loaded.
  • Lower-left: Snapshot button
  • Top-right: reset viewpoint button (not available in 2D view) and change viewer size button.
  • Lower right: View settings for customizing a particular view.
../../_images/viewer-21-objects.png

Also common to all views, a notification is displayed when no camera is connected and no snapshot is loaded:

../../_images/no-connected-camera-21.png

2D view

Live 2D camera image stream when a camera is connected. It always overlays on top of the image:

After each detection, pick frames, picking order identifiers and object markers are also shown for a brief period of time.

../../_images/viewer-21-2d.png

3D view

Live 3D camera image stream when a camera is connected. It also renders:

../../_images/viewer-21-3d.png

Points view

Displays the 3D point cloud used in the last Pickit detection. Only points contained in the ROI box are shown. It also renders the same additional elements listed for the the 3D view.

../../_images/viewer-21-points.png

Clusters view

Displays the 3D point clouds of all clusters found in the last Pickit detection. Each cluster is shown in a different color. It also renders the same additional elements listed for the the 3D view.

This view is only available for the Pickit Flex and Pattern detection engines.

../../_images/viewer-21-clusters.png

Objects view

Displays the 3D point clouds of all objects found in the last Pickit detection. Each object cloud is shown in a different color.

For all engines, it overlays the pick point of each object with the picking order identifiers.

For the Pickit Flex and Pattern  engines, it overlays a 2D or 3D model of the geometric shape (e.g. cylinder, rectangle). For the Teach  engine, it overlays the 3D model cloud.

The objects view also renders the same additional elements listed for the the 3D view.

../../_images/viewer-21-objects.png