Show Point Clouds and Poses¶

Function¶

Display Point Clouds and Poses.

Sample Scenario¶

This Step can display the relative position between the point cloud(s) and pose(s) and is usually used in debugging phase. For example, in a picking application, it can be used to check if the poses are correct.

Input and Output¶

Parameter Descriptions¶

Parameter			Description
Normal Vector Visualization Settings	Show Normals	Unselect by default.	Select to show normals of the point cloud.
		Display Interval of Normals (This option will only be available when the checkbox is selected).	Adjust the interval of normals on the point cloud. The higher the value, the sparser the displayed normals.
Z Value Visualization Settings	Visualize Z Value	Unselect by default.	Select to display the point clouds in different grayscales according to the Z value.
		Upper Bound (This option will only be available when the checkbox is selected)	The maximum value corresponds to a grayscale of 255
		Lower Bound (This option will only be available when the checkbox is selected)	The minimum value corresponds to a grayscale of 0

Parameter Tuning¶

Normal Vector Visualization Settings

Show Normals: Default setting: Unselect

Description: Select to show normals of the point cloud.
Display Interval of Normals: Default setting: 20

Description: This option will only be available when the checkbox of Show Normals is selected. It is used to adjust the interval of normals on the point cloud, and the unit is mm. The higher the value, the sparser the displayed normals.

Example: The image on the left does not display the normals on the point cloud, and the iamge on the right displays normals with an interval of 20mm.

Z Value Visualization Settings

Z Value Visualization Settings: Default setting: Unselect

Description: Select to display the point clouds in different grayscales according to the Z value.
Upper Bound: Default setting: 0

Description: This option will only be available when the checkbox of Z Value Visualization Settings is selected. The higher the value, the darker and less obvious the point cloud.
Lower Bound: Default setting: 0

Description: This option will only be available when the checkbox of Z Value Visualization Settings is selected. The smaller the value, the more obvious the point cloud.

Note

Comparison of Similar Steps: This Step is used to display the point clouds and poses. Show Images is used to display the color images and masks.