index_pds.md

PDS (Pick and Drop System)

PDS - Pick and Drop System - provided by ifm, is a software solution built on top of the O3R ecosystem to enable AGVs (Automated Guided Vehicles), forklifts, and other robots to detect the pose of objects within a 3D environment for picking them up and detecting racks for dropping them.

:::{toctree} :maxdepth: 2 Getting started <GettingStarted/index_getting_started> Calibration <Calibration/pds_calibration> Configuration <Configuration/configuration> Results <Results/results> Pallets <GetPallet/getPallet> Racks <GetRack/getRack> Volume check <VolCheck/volCheck> Code examples <Examples/examples> Recording <Recording/recordings_iVA> Integration <Integration/index_integration> :::

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Features

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PDS uses the O3R platform as its primary data source: one 3D camera stream can be used at one time. It is recommended to use the O3R222 camera head. The support for O3R225 wide FoV heads is experimental at the moment. The support for (H)VGA camera heads will be added in the future.

PDS provides four different commands:

Command	Output
getPallet	Pose of up to 10 pallets
getRack	Pose of an industrial rack
getItem	Pose of up to 10 custom items (experimental feature)
volCheck	Quantifies the number of valid pixels within a defined volume of interest (VOI)