Find small Point Cloud in large one

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Tomyslav Sledevic
Tomyslav Sledevic on 14 Feb 2020
Answered: Sai Bhargav Avula on 19 Feb 2020
After photogrammetry I have reference point cloud room.ply. Is it possible to find a location of object (small cloud) in a reference cloud?
Tomyslav Sledevic
Tomyslav Sledevic on 17 Feb 2020
But when I use a cloud from just another scan and try to localize it in large cloud, it not works correctly.

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Answers (1)

Sai Bhargav Avula
Sai Bhargav Avula on 19 Feb 2020
pcregistericp returns the transformation between the point clouds.
To find the location of an object in the point cloud, first step is to segment out the object in the point which altogether a different problem and dependent of the type of the object. Functions like pcfitplane, pcfitshpere, and pcfitcylinder help in detecting object of shapes such as plane, sphere, or cylinder respectively.
In case you have rough estimate of the roi(region of interest) you can use findPointsInROI .
Also have a look at the following example which segments and tracks the vehicle from the lidar point cloud, few functionalities can be useful for your purpose .
Hope this helps

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