Send The Point Clouds To Server

This procedure can merge the point clouds and send it to Mech-Viz for visualizing the trajectory planning. The program of this procedure is shown in Figure 1.

The program of sending the point clouds to server in Mech-Vision

Figure 1 The program of sending the point clouds to server in Mech-Vision

The introduction of each step in the program is as follows :

  1. Merge Point Clouds : Merge multiple point clouds with normal vector into one and output it.

  2. From Cloud (XYZ-Normal) to Cloud (XYZ-RGB) : Input the result of the previous step and the corresponding color image, generate color point clouds and output it.

  3. Send Point Cloud to External Service : Send the result of the previous step to Mech-Viz.