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You are reading the documentation for an older Pickit release (3.5). Documentation for the latest release (3.4) can be found here.

Object ordering

When multiple objects are detected, object ordering determines the order in which they should be picked. The following strategies are available:

  • Highest pick: Sort objects by their pick point location, from largest to smallest ROI frame Z-coordinate.

  • Highest object point: Sort objects by the highest detected point.

  • Largest product (Flex only): Objects are sorted from big to small volume or surface.

  • Highest matching score (Teach only): Sort objects with the highest model matching score first.

  • Axis Sweep: An axis sweep orders objects according to the value along the selected direction.

../../_images/axis_sweep.png

  • 2D Pattern sweep: A 2D pattern sweep orders objects by performing a pattern that advances along the selected direction.

../../_images/2d_pattern_sweep.png

The Axis Sweep and 2D Pattern Sweep ordering strategies are useful for depalletization and other semi-structured picking applications.