Flip Poses’ Axes¶

Function¶

Flip the selected axis to the positive or negative directions around a specified axis of rotation, as shown below.

This Step is usually used to flip a certain axis of the poses to a specified direction in the later phase of pose processing.

Parameter			Description
Visualization Settings	Show Cloud Under Chosen Coordinate	Robot Coordinate	Display point clouds in the robot reference frame
	Show Cloud Under Chosen Coordinate	Camera Coordinate	Display point clouds in the camera reference frame
	Pose Visuals Setting	After	Display the output flipped poses
		Before	Display the input poses to be flipped
		All	Display both the input and output poses
Axis Settings	Axis to Flip	X/Y/Z	Select the axis to be flipped
	Direction Type	Positive	Adjust the axis to the positive direction in the world reference frame
	Direction Type	Negative	Adjust the axis to the negative direction in the world reference frame
	Reference Axis to Rotate Around	X/Y/Z	Select a reference axis to rotate around

Visualization Settings

Show Cloud Under Chosen Coordinate: Default setting: Robot Coordinate

Options: Robot Coordinate, Camera Coordinate

Example: The figure below shows the point cloud when Camera Coordinate and Robot Coordinate are selected respectively.
Pose Visuals Setting: Default setting: After

Options: After, Before, All

Description: Display the output flipped poses, the input unflipped poses, or both the input and output poses.

Axis Settings

Axis to Flip: Default setting: Z

Options: X, Y, Z

Description: Select the axis to be flipped.
Direction Type: Default setting: Negative

Options: Positive, Negative

Description: The target direction of the axis to be flipped. For example, if the Axis to Flip is selected as Z, and the Direction Type is selected as Positive, the Z axis of a pose which has an included angle less than 90° with the positive axis in the world reference frame will not be adjusted, while the axis which has an included angle with the positive axis in the world reference greater than 90° will be flipped 180° around the reference axis. Likewise, when the Direction Type is selected as Negative, only axes that have included angles greater than 90° with the negative axis in the world reference frame will be flipped.
Reference Axis to Rotate Around: Default setting: X

Options: X, Y, Z

Description: Select a reference axis to rotate around.

Hint

The axis to be flipped and the reference axis cannot be the same one.

Example: The figure below shows an example when Z axis is the axis to be flipped, and X-axis is the reference axis.