Warning

You are reading the documentation for an older Pickit release. Documentation for the latest release (2.4) can be found here.

Advanced ROI filters

There are a number of advanced Region of Interest filters used for excluding points inside the ROI box.

Flat/curved region filter

Removes points that belong to flat regions / curved regions, the curvature can be adjusted with the slider. Higher the Curvature threshold the bigger the rejected point area.

Note

This filter is applied to every detection.

Dynamic Box-based ROI filter

Removes all points in the point cloud that are located below the topmost point minus the threshold distance. Located below, refers here to points that have a smaller value for their z-coordinate when taking the Pickit reference frame as a reference.

This feature is handy during depalletizing to force it picking layer by layer.

Note

This filter is applied to every detection.

Point-based ROI filter

Removes all points located close to a point present in an image of the empty workspace.

Note

This filter is only applied once when you press Teach Workspace.

Plane-based ROI filter

Removes all points in the point cloud that are located below the most dominant plane.

The initialization of the plane-based filtering consists of capturing a reference image of the empty workspace and finding the dominant plane through all points within the above-defined region of interest box.

Note

This filter is only applied once when you press Teach Workspace.

Sphere-based ROI filter

Removes all points in the point cloud that are located outside the dominant spherical shape found in the region of interest box.

The initialization of the sphere-based filtering consists of capturing a reference image of the empty workspace and finding the dominant sphere through all points within the above-defined region of interest box.

Note

This filter is only applied once when you press Teach Workspace.