FAQ / Limitations / Troubleshooting

FAQ

  1. How do I get the original coordinates that were loaded into the point cloud?

One method is to add the numerical optimization shift offset to the coordinates of the point cloud:

original = pcd.xyz + pcd.numerical_optimization_shift

Another is to remove the optimal shift from the point cloud:

# Simple assign the optimal shift to None and the coordinates will be updated
pcd.numerical_optimization_shift = None

Limitations

  • Basic handling of Transformations

  • Some assumptions still exist in automatic CSV/TXT file loading

  • E57 is only supported for coordinate data and a single point cloud (no intensity or scalar field values

  • Spherical coordinates are based on the assumption the scan center is at 0, 0, 0. This still handles the numerical optimization shift offset but a point cloud with existing offset may produce incorrect spherical angles.

  • Not yet support kdTrees natively

Contribution / Requests

To do …