Warning

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

Defining the Region of Interest

There are three methods in Pickit for defining the ROI box:

When a ROI box is defined, it specifies the Pickit reference frame. The axes of this frame are aligned with the box, and box bounds are reported with respect to this frame, as mentioned in the Modifying the Region of Interest. Furthermore, the position of the detected objects displayed in the Detection grid is with respect to the Pickit reference frame.

Note

The object positions are reported with respect to the Pickit reference frame in the web interface for convenience; but they are sent to the robot with respect to the robot base frame.

Use markers

This is the most common way of defining the ROI box. The ROI box is defined based on three markers laid out in the field of view of the camera. The Pickit text of all markers should be oriented in the same direction and the arrows of the same color should be pointing to each other. The markers are not interchangeable.

../../_images/Roi-markers.jpg
  1. Open the Region of Interest page on the Pickit web interface.

  2. Open the 2D view in the Pickit viewer.

  3. Place the three markers as shown in the image above in the field of view of the camera.

  4. Press Use markers (this button is on clickable when all three markers are in the field of view of the camera).

  5. If required, manually adjust the ROI box size as described in the Modifying the Region of Interest.

Note

When defining the ROI box, the Pickit reference frame is defined in the left bottom corner of the ROI box.

Use plane

With this strategy, the ROI box is located on top of the most dominant plane in the field of view of the camera.

  1. Open the Region of Interest page on the Pickit web interface.

  2. Press Use plane.

  3. Input length and width of the desired ROI box.

  4. If required, manually adjust the ROI box size as described in the Modifying the Region of Interest.

Note

When defining the ROI box, the Pickit reference frame is defined in the middle of the bottom of the ROI box.

Use camera

In this way the ROI box is defined based of the camera frame.

  1. Open the Region of Interest page on the Pickit web interface.

  2. Press Use camera.

  3. Input length and width of the desired ROI box.

  4. If required, manually adjust the ROI box size as described in the Modifying the Region of Interest.

Note

This method simply defines the camera frame as the Pickit reference frame.