Warning
You are reading the documentation for an older Pickit release (2.0). Documentation for the latest release (3.4) 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.