pcl in_hand_scanner data inconsistent with actual object location

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pcl in_hand_scanner data inconsistent with actual object location

shome
This post was updated on .
I used pcl in_hand_scanner to scan an object. It gives me a ply file which appears to represent the object fairly well. I used pcl_ply2pcd to convert it to pcd. The data points in the pcd do not reflect any real world cordinates. I am using a carmine 1.09 to capture the data. The data i got is far greater than the max distance that the carmine can capture. it is also greater than the max distance of objects in the setup.

The first few lines on the pcd from in_hand_scanner:

# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F U
COUNT 1 1 1 1
WIDTH 25046
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 25046
DATA ascii
8.2461996 -7.4789 40.973 11573646
8.3036003 -7.3811002 41.027 10981512
8.1307001 -7.4906998 41.034 11571847
8.2957001 -7.2715998 41.014 12426383
8.0927 -7.3548999 41.144001 12163729
8.1605997 -7.3165002 41.063999 12888476
8.2467003 -7.1862001 41.118 12558233

clearly the values look out of range of the carmine(0.35m to 1.4m). The object spanned a distance of 40 to 60cm from the sensor while scanning using in_hand_scanner.
 


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Re: pcl in_hand_scanner data inconsistent with actual object location

shome
It turned out that measurements were converted to cm during preprocessing. Hence the measurements are correct.
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