🔷Point Cloud Scale Transform

Function Description

This operator performs uniform scale (scaling) transformation on input point cloud data. It multiplies the X, Y, Z coordinates of each point in the point cloud by a user-specified scale factor, thus achieving enlargement or reduction of the point cloud.

Usage Scenarios

  • Unit Conversion : When the units of point cloud data are inconsistent with the units required by subsequent processing workflows (for example, converting from meters to millimeters, or vice versa), this operator can be used for conversion. For example, enlarge point clouds in meters by 1000 times to get point clouds in millimeters.

  • Temperature Drift Correction: In some scenarios where temperature drift occurs, point cloud correction can be performed through dimensions obtained from calibration board detection or sphere fitting result pose generation nodes.

Input Output

Input

Camera Coordinate Point Cloud： Point cloud data that needs scale transformation.

Scale： Scale factor used for scaling point clouds. If this port is connected with data, this port’s value takes priority and can be obtained through "Calibration Board Detection" or "Sphere Fitting Result Pose Generation" nodes; otherwise, use the "Scale" value from parameter settings below.

Output

Camera Coordinate Point Cloud： Point cloud data after scale transformation.

Parameter Description

This operator has two versions:

  • Point Cloud Scale Transform : Processes point clouds without normal information.

  • Point Cloud Scale Transform (with Normals) : Processes point clouds with normal information.

Both have identical core functionality and parameters, differing only in the type of point cloud data processed.

  • Scale Source : The operator obtains scaling scale priority as: Input Port > Runtime Parameters. If neither provides valid values, the operator will report an error.

  • Uniform Scaling : This operator performs uniform scaling, i.e., using the same scale factor for X, Y, Z directions.

Scale

Parameter Description

"Specifies the scale factor for point cloud scaling. Each coordinate value (X, Y, Z) of the point cloud will be multiplied by this value."

Parameter Adjustment

  • ratio > 1： Enlarge point cloud. For example, setting to 1000 can convert units from meters to millimeters.

  • ratio = 1： Point cloud remains unchanged.

  • 0 < ratio < 1： Reduce point cloud. For example, setting to 0.001 can convert units from millimeters to meters.

  • ratio = 0 ：Transform all points to origin (0, 0, 0), usually without practical meaning.

  • Priority ：If the input port "Scale (ratio)" is connected with data, the operator will prioritize using the input port’s value and ignore this parameter’s set value. If the input port is not connected, a valid scale value must be set in this parameter, otherwise the operator will report an error.

Parameter Range

[0, 10], Default is empty, please set according to actual needs.

PointCloudScale 1

PointCloudScale 2

PointCloudScale 3

PointCloudScale 4

Scale=0

Scale=0.5

Scale=1

Scale=1.5

Enable Node

Parameter Description

Controls whether this operator performs scale transformation operations.

Parameter Adjustment

The default switch is enabled, the operator performs scaling functions normally; if this switch is disabled, the operator performs no operations and directly passes input point clouds to output ports.