Transform Point Clouds

Function

This Step can transform point clouds from one reference frame to another, or transform within its own reference frame according to the reference pose.

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Sample Scenario

This Step is usually used to transform point clouds between camera reference frame and robot reference frame.

Input and Output

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Parameters

CameraToRobot: transform point clouds from camera reference frame to robot reference frame.

RobotToCamera: transform point clouds from robot reference frame to camera reference frame.

AllWithFrst: transform all point clouds to the reference frame of the first reference pose.

FirstWithAll: transform the first point cloud to the reference frame of reference pose.

UseCorrespondenceInput: transform all point clouds to the reference frame of the corresponding reference pose respectively.