Send Point Cloud to External Service

Function

Send point cloud information to Mech-Viz.

Sample Scenario

Send point cloud to Mech-Viz for simulation and debugging or for checking the actual point cloud processing results.

Input and Output

Parameter Descriptions

Parameter		Description
Cloud Settings	Input Point Cloud Type	CloudXYZRGB: Color point cloud
		CloudXYZ: Point cloud that only contains position information
		CloudXYZNORMAL: Point cloud with normals
Object Information Settings	Send Object Information	Select to send the object pose and pose label of the recognized object to Mech-Viz
Are Inputs in Cam Coord		Select when the input point cloud and object poses are in the camera reference frame, and the data will be converted to robot reference frame and then sent to Mech-Viz

Parameter Tuning

Cloud Settings

Input Point Cloud Type

Default setting: CloudXYZRGB

Options: CloudXYZRGB, CloudXYZ, CloudNORMAL

Instruction: Select the point cloud type to be sent according to the actual requirement.

Example: When CloudXYZRGB, CloudXYZ, and CloudNORMAL are selected respectively, the input point clouds are shown below.

Object Information Settings

Send Object Information

Default setting: Unselect

Instruction: When this option is not selected, Object Poses and Pose Labels ports will not appear. When this option is selected, Object Poses and Pose Labels ports will be available. Please select if you need to send Object Poses and Pose Labels to Mech-Viz. The figure below shows the Step when this option is selected and unselected.

Are Inputs in Cam Coord

Default setting: Select

Instruction: Once this option is selected, the input point cloud will be converted to the robot reference frame and then sent to Mech-Viz. If the option is not selected, the input point cloud in the camera reference frame will be sent to Mech-Viz directly.