Flip Poses’ Axes

Function

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

../../../../../_images/flip_poses_axis.png

Usage Scenario

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

Input and Output

../../../../../_images/input_output_12.png

Parameter Descriptions

Parameter

Description

Visualization Settings

Show Cloud Under Chosen Coordinate

Robot Coordinate

Display point clouds in the robot reference frame

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

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

Parameter Tuning

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.
../../../../../_images/display_the_point_cloud_in_the_selected_coordinate_system.png
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.
../../../../../_images/example.png