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如何在点云中保留细的或者尖锐的对象

问题

对细的物体进行成像可能具有挑战性。在某些情况下，表征它们的数据可能会在点云中丢失。仅当细的对象在彩色图像中垂直对齐并且它们与后方的表面之间的z轴距离较大时才会发生这种情况。垂直对齐的尖锐的对象也会出现同样的问题。

No data on thin objects	No data on pointy objects

原因

The Global Mode of the Reflection Filter（反射过滤器） (SDK 2.7 and newer), which corresponds to the old Reflection Filter (SDK 2.6 and older), is generally good at removing outlier points. However, its downside is that it removes data from thin and pointy objects.

可能的解决方案

如果场景中有反射对象，请使用SDK 2.7中提供的反射过滤器的Local Mode。如果您的场景不是反射式的，或者如果您无法将SDK升级到2.7版，请关闭反射过滤器。另一种选择是旋转对象或相机，使对象在彩色图像中显示为水平。

Data preserved on pointy objects by using Reflection Filter Local Mode	Data preserved on pointy objects by rotating camera or objects