User Interface of Matching Model and Pick Point Editor

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This section introduces the user interface of Matching Model and Pick Point Editor.

When no resource file is imported, the start screen of Matching Model and Pick Point Editor is shown as below. You can click the buttons in the upper left corner to import the resource files.

matching model and pick point editor interface introduction model editor interface 0

When there is a Capture Images from Camera in the project, the Capture point cloud button will be activated.

After a resource file is imported, the user interface of Matching Model and Pick Point Editor, as shown below, can be divided into five parts:

matching model and pick point editor interface introduction model editor interface 1

Menu Bar

The menu bar includes the File and Edit menus for saving, undoing, redoing, etc.

File

Option	Description	Shortcut
Save	Save all files in the resource list to Project Folder/resource/model_editor	Ctrl+S
Exit	Exit Matching Model and Pick Point Editor	N/A

Option

Description

Shortcut

Save

Save all files in the resource list to Project Folder/resource/model_editor

Ctrl+S

Exit

Exit Matching Model and Pick Point Editor

N/A

Edit

Option	Description	Shortcut
Undo	Undo point deletion	Ctrl+Z
Redo	Redo point deletion	Ctrl+Y
Display Settings	Adjust the size of points, font size of pose label, pick point size, size of manipulator, and types of manipulator displayed	N/A

Option

Description

Shortcut

Undo

Undo point deletion

Ctrl+Z

Redo

Redo point deletion

Ctrl+Y

Display Settings

Adjust the size of points, font size of pose label, pick point size, size of manipulator, and types of manipulator displayed

N/A

Toolbar

The toolbar includes buttons used in point cloud model generation, point cloud model editing, and pick point addition.

Button	Description
	Select points in the point cloud
	Remove selected points from the point cloud
	Invert the point selection in the current point cloud
	Estimate the edge of the point cloud with the 3D method
	Merge point clouds
	Downsample a point cloud
	Add a pick point by adding a pose
	Add a pick point by teaching
	Import an existing pick point file
	Generate a point cloud of the CAD model’s surface
	Generate a point cloud of only the part visible in the current view of the CAD model’s surface

Button

Description

icon_1

Select points in the point cloud

icon_2

Remove selected points from the point cloud

icon_3

Invert the point selection in the current point cloud

icon_4

Estimate the edge of the point cloud with the 3D method

icon_5

Merge point clouds

icon_6

Downsample a point cloud

icon_7

Add a pick point by adding a pose

icon_8

Add a pick point by teaching

icon_9

Import an existing pick point file

icon_10

Generate a point cloud of the CAD model’s surface

icon_11

Generate a point cloud of only the part visible in the current view of the CAD model’s surface

Hover the mouse cursor over the button to view the example animation of the action.

Resource List

The resource list includes the Model files list and CAD files list.

Model files

All point cloud model files, pick point files, and geometric center files saved under Project Folder/resource/model_editor/matching_source are listed here.

Mouse action	Function
Click next to a file name	Hide this file in the visualizing space. Clicking again makes the file visible. Clicking again makes the file visible.
Double-click a file name	Rename the file
Drag	1. Adjust the order of files in the list 2. Dragging a pick point/geometric center onto a point cloud model associates the two
Right-click a point cloud model	Can copy or delete this model
Right-click a pick point/geometric center	Can copy, delete, or set this point as geometric center and/or pick point

Mouse action

Function

Click matching model and pick point editor interface introduction icon 0 next to a file name

Hide this file in the visualizing space. Clicking again makes the file visible. Clicking again makes the file visible.

Double-click a file name

Rename the file

Drag

1. Adjust the order of files in the list 2. Dragging a pick point/geometric center onto a point cloud model associates the two

Right-click a point cloud model

Can copy or delete this model

Right-click a pick point/geometric center

Can copy, delete, or set this point as geometric center and/or pick point

If a point cloud model only has one pick point, then the “Set as geo. center” option in the right-click menu of this pick point cannot be unselected.

CAD files

All CAD model files saved under Project Folder/resource/model_editor/cad_files are listed here.
Similar to the Model files list, clicking the next to a file name hides the file in the visualizing space. Clicking again makes the file visible.
Right-clicking a file name gives the option to remove the file from the list, but this will not delete the CAD file saved in the above directory.

Parameters and Display Pane

The parameters and display pane is the region below the CAD files list. When you select a point cloud model, a pick point/geometric center, or a CAD file, this pane will display the functions corresponding to the type of file.

When a point cloud model is selected, you can choose whether to Show bounding box and Show normals, and change the Monochrome point cloud color in this pane.
- Check Show bounding box to show the bounding box of the selected point cloud model.
- Check Show normals to show normals of the selected point cloud model.
- Double-click the white rectangle next to Monochrome point cloud color to change the display color of the point cloud model.
  
  The display color of an imported color point cloud cannot be changed.
When a CAD file is selected, this pane displays the dimensions of the CAD model’s bounding box, and the Show bounding box option. Select Show bounding box to show the bounding box of the selected CAD model.
When a pick point/geometric center is selected, this pane displays the Pose Editing Widget. For detailed description, please refer to Pose Editing Widget.

Visualizing Space

The visualizing space is used for the visualization of point cloud models and CAD files opened in Matching Model and Pick Point Editor and view adjustment. The detailed instructions are as follows.

Function	Mouse action
Zoom in/out	Scroll the mouse
Rotate the view	Hold the scroll wheel and drag
Pan the view	Hold the Shift key and scroll wheel and drag
Move/Rotate the object	Hold the Ctrl key and left mouse button and drag the manipulator

Function

Mouse action

Zoom in/out

Scroll the mouse

Rotate the view

Hold the scroll wheel and drag

Pan the view

Hold the Shift key and scroll wheel and drag

Move/Rotate the object

Hold the Ctrl key and left mouse button and drag the manipulator

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