Flip Pose Coordinate Directions

Function Description

Fixes one axis of the pose and flips another axis to a specified direction.

FlipPoses

Use Cases

This step is commonly used during pose post-processing to align a chosen axis of all poses to the same direction.

Inputs

  • Pose: Poses whose direction is to be adjusted.

Outputs

  • Pose: Poses after direction adjustment.

Parameters

Visualization Settings

  • Display Point Cloud in Selected Coordinate System

    Supports displaying point clouds in robot coordinate system/camera coordinate system.

  • Pose Display Settings

    • Before: Displays only poses before flipping.

    • After: Displays only poses after flipping.

    • All: Displays both poses before and after flipping.

Coordinate Axis Settings

  • Axis to Flip

    Selects the type of coordinate axis that needs to be flipped.

  • Direction Type

    The direction that the axis to be flipped points to.

    Negative (If you want to adjust a certain axis of the pose to the negative direction in the world coordinate system, only axes with an angle greater than 90° from the negative direction will be adjusted); Positive (If you want to adjust a certain axis of the pose to the positive direction in the world coordinate system, only axes with an angle greater than 90° from the positive direction will be adjusted).

    For example, if the Axis Type to Flip in parameters is Z, and Direction Type is Positive, then the Z axis of poses with an angle less than 90° from the positive direction of the world coordinate system Z axis will not be adjusted, and the Z axis of poses with an angle greater than 90° will be flipped 180° around the reference axis.

  • Axis to Fix

    Selects which axis to rotate around. The axis to flip and the axis to fix cannot be the same axis.