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Point Cloud Utilities

Downsampling, denoising, merging, and normals estimation of 3-D point clouds

Functions

pcdenoiseRemove noise from 3-D point cloud
pcdownsampleDownsample a 3-D point cloud
pcnormalsEstimate normals for point cloud
pcmergeMerge two 3-D point clouds
pointCloudObject for storing a 3-D point cloud
findNearestNeighborsFind nearest neighbors of a point
findNeighborsInRadiusFind neighbors within a radius
findPointsInROIFind points within ROI
removeInvalidPointsRemove invalid points

Topics

Point Cloud Registration Workflow

Understand point cloud registration workflow.

3-D Point Cloud Registration and Stitching

This example shows how to combine multiple point clouds to reconstruct a 3-D scene using Iterative Closest Point (ICP) algorithm.

Merge Two Identical Point Clouds Using Box Grid Filter

Use the point cloud merge function.

Remove Outliers from Noisy Point Cloud

Use the point cloud denoise function to remove noise from a point cloud.

Downsample Point Cloud Using Box Grid Filter

Use the point cloud downsample function to create a downsampled point cloud.