Move Poses to PCS Along Z

Function Description

This step moves poses along the Z axis until they reach the point cloud surface.

Use Cases

This step is generally used to adjust poses that are not on the object surface. Corresponding usage scenarios include uneven object surfaces, small-range adjustments of object poses, etc.

Inputs

Point CloudS with Normals (Required): List of reference point clouds with normals.
Original PoseS (Required): Original pose list.

Outputs

Adjusted Poses: Poses after moving the original poses along the Z axis.

Parameters

Visualization Settings

Show Point Cloud in Selected Frame: Can observe the input reference point cloud in camera coordinate system or robot coordinate system.

Point Cloud Acquisition Settings

Radius in XOY Plane: In the XOY plane of the corresponding original pose coordinate system, with the position of the original pose as the center, this value specifies the radius to select the point cloud range.

Adjustment Settings

Adjustment Settings: According to the position specified by this item from the original pose center, then move along Z by the calculated distance.
Reference Z Axis
- Local: Selects the Z axis in the original pose coordinate system as the movement axis.
- Global: Selects the Z axis in the world coordinate system as the movement axis.