Set up Workcell

For the program execution, three persistent and global variables are required. Add them manually to the workspace.

Variable name	Function
g_calib_poses	An array of calibration poses. During the calibration procedure, the program iterates through the poses. Add, remove or update poses accordingly. A minimum number of five poses is highly recommended.
g_detection_pose	The pose that triggers the detection. Also used as a retreat pose for calibration step 2 if the camera is not mounted on the robot. The robot will move there, so you can remove the calibration plate to place it on the object ground.
g_use_case	A boolean flag to indicate where the camera is mounted: 0: Camera is mounted on the robot; 1: Camera is not mounted on the robot

Add the variables in the Workcell as persistent variables.

Add, remove or update the pose variables.

Set the detection pose.

Select the use case.