ResamplingGroup Properties

Setting for upsampling or downsampling the point cloud data by some factor. This operation is performed after all other processing has been completed. Downsampling is used to reduce the number of points in the point cloud. This is done by combining each 2x2 or 4x4 group of pixels in the original point cloud into one pixel in a new point cloud. This downsample functionality is identical to the downsample method on the PointCloud class. The averaging process reduces noise in the point cloud, but it will not improve capture speed. To improve capture speed, consider using the subsampling modes found in Settings/Sampling/Pixel. Upsampling is used to increase the number of points in the point cloud. It is not possible to upsample beyond the full resolution of the camera, so upsampling may only be used in combination with the subsampling modes found in Settings/Sampling/Pixel. For example, one may combine blueSubsample2x2 with upsample2x2 to obtain a point cloud that matches a full resolution 2D capture, while retaining the speed benefits of capturing the point cloud with blueSubsample2x2. Upsampling is achieved by expanding pixels in the original point cloud into groups of 2x2 or 4x4 pixels in a new point cloud. Where possible, values are filled at the new points based on an interpolation of the surrounding original points. The points in the new point cloud that correspond to points in the original point cloud are left unchanged. Note that upsampling will lead to four (upsample2x2) or sixteen (upsample4x4) times as many pixels in the point cloud compared to no upsampling, so users should be aware of increased computational cost related to copying and analyzing this data.