如何知道点云是在什么单位？ [英] How to tell what units a point cloud is in?

问题描述

我使用的是从Kinect图片创建的点云文件的数据集。有没有办法知道轴在什么单位，即一个点（0.003,0.004,0.04）是米，厘米等。

I am using a dataset of point cloud files created from Kinect images. Is there a way to know what units the axis are in, i.e. for a point (0.003, 0.004, 0.04) is this meters, centimeters etc.?

我尝试使用pcl中的 setRadiusSearch 方法从局部贴图估计表面法线，但这允许我们以米为单位指定半径，所以我需要知道点云的单位。

I am trying to estimate surface normals from local patches using the setRadiusSearch method in pcl but this allows us to specify a radius in meters, so I need to know the units of the point cloud.

推荐答案

查看器中的轴是你想要的单位。你必须知道或推断你的来源的实际单位。例如，MS驱动程序返回以毫米为单位的值。由于你正在处理一个Kinect点云，无论驱动程序如何，你都可以很容易地确定你的值代表什么：Kinect有一个范围 0.4至8m 。这意味着 - 例如 - 如果值是（500.0,600.0,3000.0），这意味着它们以mm为单位，如果它们是（0.5,0.6,2.0），则它们在m中，以此类推。

The axis in your viewer is whatever units you want it to be. You have to know or infer the actual units from your source. For example, the MS driver returns values in mm. Since you are dealing with a Kinect point cloud, irrespective of the drivers you can easily figure out what your values represent: The Kinect has a range of 0.4 to 8 m. That means that -for example- if the values are like (500.0, 600.0, 3000.0) this means they are in mm, if they are (0.5, 0.6, 2.0) then they are in m, and so on.

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