I saw all the StarGate shows (a very long time ago) but SG-1 was my favourite, I saw that one several times. So I remember very little of Atlantis (and Universe was so bad, my God, I don't remember it any more only the fact that I didn't like it) and in this sense I have no idea about Picardo's character any more. I vaguely remember that he was also in the original series and he was a little disgusting figure who always insisted on keeping to the law by the letter - or something similar. I didn't like him. I know that later he became a main character on Atlantis but for me Weir was the real leader and after they threw her out, I wasn't very interested any more.
So I don't have too many memories of StarGate, not any more. The first one was good, Richard Dean Anderson totally rocked. That much I can remember.