what is the pointcloud's scaling factor

[happykk-coding]

Hi
I use InstantSplat to reconstruct DexYCB dataset, and I get the point cloud. I find that the unit of point (x,y,z) is not in meter. I would like to ask if this point cloud has a scale factor , or other thing that I can use to align the point cloud to meter.
Since I want to use grasp network to grasp some object , it need metric point cloud.
Thank you so much :0 :) ☺️☺️☺️☺️☺️☺️☺️☺️

[zhanglk9]

Hi I use InstantSplat to reconstruct DexYCB dataset, and I get the point cloud. I find that the unit of point (x,y,z) is not in meter. I would like to ask if this point cloud has a scale factor , or other thing that I can use to align the point cloud to meter. Since I want to use grasp network to grasp some object , it need metric point cloud. Thank you so much :0 :) ☺️☺️☺️☺️☺️☺️☺️☺️

Have you solved this problem? I have the same problem！

[kairunwen]

@happykk-coding @zhanglk9, Hi, you can use this function to obtain scale_factor, and align the point cloud to meter.

[Enzo-Kerkhof]

Sorry to maybe ask a simple question, but this function requires 2 inputs right? So how would one obtain the scale factor for the point cloud to meters if you only have. Single output from an inference?