Matching Model and Pick Point Editor

This section introduces the user interface of Matching Model and Pick Point Editor.

When no resource file is imported, the start screen of Matching Model and Pick Point Editor is shown as below. You can click the buttons in the upper left corner to import the resource files.

../../../../_images/model_editor_interface_0.png

Hint

When there is a Capture Images from Camera in the project, the Capture point cloud button will be activated.

After a resource file is imported, the user interface of Matching Model and Pick Point Editor, as shown below, can be divided into five parts:

../../../../_images/model_editor_interface_1.png

Toolbar

The toolbar includes buttons used in point cloud model generation, point cloud model editing, and pick point addition.

Button

Description

icon_1

Select points in the point cloud

icon_2

Remove selected points from the point cloud

icon_3

Invert the point selection in the current point cloud

icon_4

Estimate the edge of the point cloud with the 3D method

icon_5

Merge point clouds

icon_6

Downsample a point cloud

icon_7

Add a pick point by adding a pose

icon_8

Add a pick point by teaching

icon_9

Import an existing pick point file

icon_10

Generate a point cloud of the CAD model’s surface

icon_11

Generate a point cloud of only the part visible in the current view of the CAD model’s surface

Resource List

The resource list includes the Model files list and CAD files list.

Model files

All point cloud model files, pick point files, and geometric center files saved under Project Folder/resource/model_editor/matching_source are listed here.

Mouse action

Function

Click icon_0 next to a file name

Hide this file in the visualizing space. Clicking again makes the file visible.

Double-click a file name

Rename the file

Drag

  1. Adjust the order of files in the list

  2. Dragging a pick point/geometric center onto a point cloud model associates the two

Right-click a point cloud model

Can copy or delete this model

Right-click a pick point/geometric center

Can copy, delete, or set this point as geometric center and/or pick point

Hint

If a point cloud model only has one pick point, then the Set as geo. center option in the right-click menu of this pick point cannot be unselected.

CAD files

  • All CAD model files saved under Project Folder/resource/model_editor/cad_files are listed here.

  • Similar to the Model files list, clicking the icon_0 next to a file name hides the file in the visualizing space. Clicking again makes the file visible.

  • Right-clicking a file name gives the option to remove the file from the list, but this will not delete the CAD file saved in the above directory.

Parameters and Display Pane

The parameters and display pane is the region below the CAD files list. When you select a point cloud model, a pick point/geometric center, or a CAD file, this pane will display the functions corresponding to the type of file.

  1. When a point cloud model is selected, you can choose whether to Show bounding box and Show normals, and change the Monochrome point cloud color in this pane.

    ../../../../_images/model_editor_cloud_functions_1.png
    • Select Show bounding box to show the bounding box of the selected point cloud model.

    • Select Show normals to show normals of the selected point cloud model.

    • Double-click the white rectangle next to Monochrome point cloud color to change the display color of the point cloud model.

      Hint

      The display color of an imported color point cloud cannot be changed.

  2. When a CAD file is selected, this pane displays the dimensions of the CAD model’s bounding box, and the Show bounding box option.

    Select Show bounding box to show the bounding box of the selected CAD model.

    ../../../../_images/model_editor_cad_functions_2.png
  3. When a pick point/geometric center is selected, this pane displays the Pose Editing Widget. For detailed description, please refer to Pose Editing Widget.

Visualizing Space

The visualizing space is used for the visualization of point cloud models and CAD files opened in Matching Model and Pick Point Editor and view adjustment.

You can adjust your view through the following mouse actions.

Mouse action

Function

Left-button drag

Rotate the view

Right-button drag or scroll

Zoom

Drag with the scroll wheel

Pan the view

You can also use the buttons in the upper right of the visualizing space to achieve the following view adjustments.

Button

Description

icon_12

Zoom to fit, and center the selected file in the visualizing space

icon_13

View along the positive X-axis

icon_14

View along the negative X-axis

icon_15

View along the positive Y-axis

icon_16

View along the negative Y-axis

icon_17

View along the positive Z-axis

icon_18

View along the negative Z-axis