Show Point Clouds and Poses

Function

Display Point Clouds and Poses.

Usage 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

../../../../_images/input_output_01.png

Parameter Description

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 millimeters. 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 20 mm.
../../../../_images/show_point_clouds_3.png

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.