Point Axes of Poses to Given Direction

Function

Adjust the orientations of axes of poses by a set reference direction.

For various scenarios where pose orientations need to be adjusted.

This Step is outdated. If you need to rotate poses by object symmetricity (that is, to set the parameter Rectification Method of this Step to ROTATION), please use the new Step Rotate Poses’ Axes to Specified Directions under Symmetry Constraints together with Step Easy Create Vector3Ds.

Visualization Settings

Pose Type to Visualize: Default setting: After.

List of options: After, Before, and All.

Instruction: This parameter decides the type of pose to visualize, including pose after processing, pose before processing, and poses before and after processing.

Method Selection

Rectification Method

HARD_RECTIFY: The default value. If there exist a second input (reference pose), and useFirstRefPose is selected, the reference direction is the direction of the corresponding axis type of the first reference pose. Otherwise the reference direction will be the corresponding axis type of all reference poses. If there isn’t a second input (reference pose), “reference Dir” will determine the reference direction.
ROTATION: Set the symmetrical angle according to the symmetry of the object, so that the rotation axis to be adjusted will be roughly in the same direction with the specified reference axis.

When this method is selected, this Step can only rotate the X-axis and Y-axis of the pose around Z-axis, and cannot rotate Z-axis of the pose.

Axis Settings

Pointing Axis: Instruction: the rotation axis that needs adjustment.

List of option: X, Y, and Z (default setting).

Reference Direction

X-axis: Default value: 0.0000

Instruction: the direction vector of the reference axis X.
Y-axis: Default value: 0.0000

Instruction: the direction vector of reference axis Y.
Z-axis: Default value: 1.0000

Instruction: the direction vector of the reference axis Z.
Symmetry Angle: Parameter description: This parameter is used to set the symmetry angle of the symmetrical objects (when ROTATION is selected in the rectification method, this parameter should be set).

Default value: 120°

Tuning recommendation: Please set the parameter according to the actual requirement.