Move Poses to Point Cloud Surfaces

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Function

This Step translates the input poses along with the specified directions so that the centers of the translated poses are on the surfaces of the input point clouds.

Usage Scenario

This Step is usually used to correct the pick points to point cloud surfaces.

Input and Output

  • Input:

    1. Point clouds input to this port will be used as references for adjusting the poses.

    2. Poses input to this port will be adjusted to the point clouds’ surfaces.

  • Output:

    1. Poses adjusted to the point clouds’ surfaces.

    2. Color point cloud for visualization.

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