Show Point Clouds and Poses

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Function

Display Point Clouds and Poses.

Comparison of Similar Steps

The Step Show Point Clouds and Poses is used to show point clouds and poses while the Step Show Images is used to show color images and masks.

Usage Scenario

This Step can display the relative position between the point cloud(s) and pose(s). For example, in a picking application, it can be used to check if the poses are correct. It is usually used in debugging phase.

Input and Output

Input

Input port Data type Description

Point Clouds Shown in White

PointCloud/XYZNormal[]

The point clouds input by this port will be displayed in white.

Point Clouds Shown in Color

PointCloud/XYZNormal[] -

The point clouds input by this port will be displayed in a random color.

Poses

Pose[] -

Poses to display.

Output

Output port Data type Description

N/A

-

None.

Parameter Description

Normal Vector Visualization Settings

Parameter Description

Show Normals

Description: Select to show normals of the point cloud.
Default setting: unselected.
Instruction: Once this parameter is selected, the normals of the point cloud will be shown in the visualized result. Please refer to the tuning example for the corresponding result.

Display Interval of Normals

Description: This option will only be available when the checkbox of Show Normals is selected.
Default value: 20
Instruction: 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. Please refer to the tuning example for the corresponding result.
Z Value Visualization Settings

Z Value Visualization Settings

Description: Select to display the point clouds in different grayscales according to the Z value.
Default setting: unselected.
Instruction: When this parameter is selected, point clouds can be displayed in different grayscales according to the Z value.

Upper Bound

Description: Maximum Z value of point clouds to be colored. This option will only be available when the checkbox of Z Value Visualization Settings is selected.
Default value: 0
Instruction: This value denotes the maximum Z value of point clouds to be colored. The higher the value, the darker and less obvious the point cloud.

Lower Bound

Description: Minimum Z value of point clouds to be colored. This option will only be available when the checkbox of Z Value Visualization Settings is selected.
Default value: 0
Instruction: This value denotes the minimum Z value of point clouds to be colored. The smaller the value, the more obvious the point cloud.

Tuning Examples

Show Normals of Point Clouds

The figure on the left is the case when normals are not displayed while that on the right is the case when normals are displayed, and the display interval of normals is 20 mm.

show point clouds and poses normal 1

Change Display Interval of Normals

The figure on the left shows the case when the display interval of normals is 5 mm, where normals are dense, while that on the right shows the case when the interval is 40 mm, where normals are sparse.

show point clouds and poses normal 2

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