Display Point Clouds and Poses

Function Description

This step can visually display point clouds and poses.

Use Cases

This step is used to display the relative positions of poses and point clouds, such as checking whether poses are correct in object grasping scenarios. Generally used during the debugging stage.

Inputs

Point Cloud Displayed as White (Required): Point cloud to be displayed as white.
Point Cloud Displayed as Color (Optional): Point cloud to be displayed in color.
Poses (Optional): Target object poses to be displayed.

Outputs

None.

Parameters

Normal Vector Visualization Settings

Display Normal Vectors: When checked, displays the normal vectors of the point cloud, and you can set the display interval of normal vectors.
Normal Vector Display Interval: The distance between adjacent normal vectors, in mm. Larger values result in sparser display.

Z-Value Visualization Settings

Visualize Point Cloud Z-Values: When checked, displays point clouds in different grayscale based on Z-values.
Upper Limit: The maximum Z-value to be colored. All Z-values greater than or equal to the upper limit will be rendered as white, unit: mm.
Lower Limit: The minimum Z-value to be colored. All Z-values less than or equal to the lower limit will be rendered as black, unit: mm.

Z-values within the range between the upper and lower limits will undergo linear grayscale mapping, which enhances image contrast. Reasonable settings for the upper and lower limits can make details more obvious.