Send Point Cloud to External Service

Function

Send point cloud information to Mech-Viz.

Usage Scenario

Send point cloud to Mech-Viz for simulation and debugging or for checking the actual point cloud processing results.

Input and Output

../../../../_images/input_output_15.png

Parameter Description

Cloud Settings

Input Point Cloud Type
Default setting: CloudXYZRGB
Options: CloudXYZRGB, CloudXYZ, CloudNORMAL
Instruction: Select the point cloud type to be sent according to the actual requirement.
Example: When CloudXYZRGB, CloudXYZ, and CloudNORMAL are selected respectively, the input point clouds are shown below.
../../../../_images/point_cloud_type_1.png
../../../../_images/point_cloud_type_2.png
../../../../_images/point_cloud_type_3.png

Object Information Settings

Send Object Information
Default setting: Unselect
Instruction: When this option is not selected, Object Poses and Pose Labels ports will not appear. When this option is selected, Object Poses and Pose Labels ports will be available. Please select if you need to send Object Poses and Pose Labels to Mech-Viz. The figure below shows the Step when this option is selected and unselected.
../../../../_images/send_object_information.png

Input Point Cloud in Camera Frame

Default setting: Select
Instruction: Once this option is selected, the input point cloud will be converted to the robot reference frame and then sent to Mech-Viz. If the option is not selected, the input point cloud in the camera reference frame will be sent to Mech-Viz directly.