XMLGeneratorTutorial.md

The guidance of palmar side point cloud generator

Here’s a quick guide on how to use the palmar side pointcloud XML file generator. We have versions available for both Linux and Windows.

1. Starting the Program:

   • Run the executable file (PointCloud.x86_64 for Linux or PointCloud.exe for Windows). You’ll see a window that looks like this:

     

   • Enter the absolute path of your hand URDF file in the text box in the upper left corner and click the Load button. You'll then see the hand model appear in the scene:

     

2. Generating the Pointcloud:

   • Position the white ball at the center of the hand’s palm by dragging the axis.

   • Click the Generate and Save button. This will create a PointCloud.xml file in the directory where the executable is located:

     

Additional Controls

• Adjusting Settings:

  • Adjust the MinPointDistance parameter to control the density of the points.

• Navigating the View:

  • Use the right mouse button and drag to adjust the camera direction.
  • Press the WASD keys to move the camera position.

Feel free to play around with these settings to get the best results for your needs!