Point Cloud Viewer (OpenCV)
Display point cloud image using OpenCV.
Contents
Input Signals
- Pause (boolean): Pause point cloud image (1: Pause / 0: Not pause).
- Pos (int32): Start position of XYZ and Image input pixel data ([y x]). Note that Pos is zero index based.
- XYZ (double): XYZ data of points.
- Image (uint8): RGB data of points.
- View (double): View point ([x y z]). View input is available when "Set view point by input" block parameter was checked.
Output Signals
- Image (uint8): RGB point cloud image. Image is available when "Image output" block parameter was checked.
Block Parameters
- Window size: Size of Point Cloud Viewer window
- Frame size: Size of XYZ and Image input data ([rows colums]).
- Full frame size: Size of whole XYZ and Image data ([rows colums]).
- Background color: Background color (R G B).
- Look at point: Look at point of point cloud image ([x y z]).
- Set view point by Input: Configure view point is set by an input signal or keyboard input (ON: Input signal / OFF: Keyboard input).
Note that when this parameter was OFF, view point can be changed by keyboard input while point cloud display window is active.
Note that keyboard input is not case sensitive.
- Press R(r) : Initial view point
- Press K(k) : +y
- Press J(j) : -y
- Press H(h) : +x
- Press L(l) : -x
- Press I(i) : +z
- Press M(m): -z
- Initial view point: Initial view point when "Set view point by Input" parameter was OFF ([x y z]).
- View point step: View point step for keyboard input. Step value has to be greater than zero.
- Camera distortion coefficients: The input vector of camera distortion coefficients ([k1 k2 p1 p2 k3]) Zero value means no distortion.
- Image output: Configure output of point cloud image (ON: Image output/OFF:No image output).