Transform Poses

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Function

This Step can transform poses from one reference frame to another, or transform within its own reference frame according to the reference pose.

transform poses functional description

Usage Scenario

This Step is usually used to transform poses between camera reference frame and robot reference frame.

If you are using a truss robot, please use the Transform Poses for Truss Step.

Input and Output

Input

Input ports Data type Description

Original Poses

PoseList

The poses input by this port will be transformed.

Reference Poses

PoseList

(Optional) Reference poses. Input when the parameter “Transformation Type” is set to “AllWithFirst”, “FirstWithAll” or “UseCorrespondenceInput”.

Output

Output ports Data type Description

Transformed Poses

PoseList

Poses after transformation.

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.

Transformation Settings

Parameter

Description

Transformation Type

Description: This parameter is used to select the type of pose transformation.

Default value: CameraToRobot

Value list: CameraToRobot, RobotToCamera, AllWithFrst, FirstWithAll, and UseCorrespondenceInput

Instructions:

  • CameraToRobot: Assuming that the object pose in the camera reference frame is Pose 1, when the transformation type is CameraToRobot, the transformed pose Pose2 in the robot reference frame will be output. Please refer to the tuning example for the corresponding result.

  • RobotToCamera: Assuming that the object pose in the robot reference frame is Pose 1, when the transformation type is RobotToCamera, the transformed pose Pose2 in the camera reference frame will be output. Please refer to the tuning example for the corresponding result.

  • AllWithFirst: The poses of objects A and B are denoted as Pose1A and Pose1B, respectively, in the reference frame 1. When the transformation type is selected as AllWithFirst, and a reference pose list has been input, the transformed poses of object A and B, namely, Pose2A and Pose2B, respectively, in the reference frame 2 will be output. The first reference pose in the pose list is used in the transformation of all original poses. Please refer to the tuning example for the corresponding result.

  • FirstWithAll: The poses of objects A and B are denoted as Pose1A and Pose1B, respectively, in the reference frame 1. When the transformation type is selected as FirstWithAll, and reference pose lists have been input, the transformed poses of object A, namely, Pose2A and Pose3A, in the reference frame 2 and reference frame 3, respectively, will be output. All reference poses in the pose lists are used in the transformation of the first original pose, which is Pose1A in this example. Please refer to the tuning example for the corresponding result.

  • UseCorrespondenceInput: The poses of objects A and B are denoted as Pose1A and Pose1B, respectively, in the reference frame 1. When the transformation type is selected as UseCorrespondenceInput, and reference pose lists have been input, the transformed poses of object A and B, namely, Pose2A and Pose3B, in the reference frame 2 and reference frame 3, respectively, will be output. The reference poses in the pose list are used in the transformation of each original pose correspondingly. Please refer to the tuning example for the corresponding result.

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

CameraToRobot

The following figure shows the results before (left) and after (right) pose transformation of CameraToRobot.

transform poses camera to robot

RobotToCamera

The following figure shows the results before (left) and after (right) pose transformation of RobotToCamera.

transform poses robot to camera

AllWithFirst

The following figure shows the results before (left) and after (right) pose transformation of AllWithFirst.

transform poses all with first

FirstWithAll

The following figure shows the pose transformation result of FirstWithAll.

transform poses first with all

UseCorrespondenceInput

The following figure shows the pose transformation result of UseCorrespondenceInput.

transform poses use correspondence input

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