Transform Poses by Matrix in Object Frames

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Function

This Step transforms the poses in the reference frames of the poses themselves.

Usage Scenario

This Step is a general pose transformation Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be transformed.

Transforms

Pose[] -

Transformation matrix.

Output

Output port Data type Description

Resulted Poses

Pose[]

Transformed poses.

Parameter Description

Visualization Settings

Parameter Description

Show Point Cloud In Selected Frame

Description: Display point cloud under the robot reference frame or the camera reference frame.

Default value: Robot Coordinate

Value list: Robot Coordinate, Camera Coordinate

Instruction: When this parameter is set to Robot Coordinate, the Debug Output panel will display the visualized output under the camera reference frame; when it is set to Robot Coordinate, the panel will display the visualized output under the robot reference frame. Please refer to the tuning example for the corresponding result.

This parameter will appear only when the scene point cloud is set in the project.

  • Under the Robot Coordinate, the Debug Output panel is black, and you need to adjust the view to show the point cloud and coordinates.

  • Under the Camera Coordinate, the Debug Output panel only shows the point cloud, and you need to adjust point cloud orientation to show the coordinates.

Pose Type to Visualize

Description: This parameter is used to select the pose type to visualize.
Default value: After
Value list: After, Before, and All
Instruction: Select an appropriate option according to actual needs. Please refer to the tuning example for the corresponding result.
Parameter Description

Predefined Transformation

Parameter description: This parameter is used to set the specific values of the transformation matrix for translating and rotating the input pose.
Parameter format: The value is specified in the format [tx, ty, tz, qw, qx, qy, qz], where the first three values are the translation components in millimeters (mm), and the last four values are the rotation components in quaternion form.
Default value: 0,0,0,1,0,0,0 (indicating no translation and no rotation).
Instruction: Adjust the value of each component as needed to achieve the desired pose transformation.

Tuning Examples

Show Point Cloud In Selected Frame

As shown below, the figure on the left shows the point cloud in the camera reference frame, and the figure on the right shows the point cloud in the robot reference frame.

transform poses transform poses

Pose Type to Visualize

In the case of the robot reference frame, the visualized poses are as follows when the Pose Type to Visualize is set to After, Before, and All.

transform poses pose display settings

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