coherent point drift algorithm for point cloud registration input data

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Aadithya Iyer
Aadithya Iyer 2020-11-21
评论： Aadithya Iyer 2020-11-28
what is fixed and moving point cloud data that is used in support for CPD. how to get the coordinate vales for moving point cloud using lidar?

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回答（1 个）

Shubham Rawat
Shubham Rawat 2020-11-28
Hi Aadithya,
Here Moving Point Cloud refers to a transformation of fixed Point Cloud.
For example a Point Cloud is rotating. So, at time = 0 can be considered fixed Point Cloud and Point Cloud at time = 1 is considered as moving Point Cloud.
pcregistercpd function takes both point clouds and returns a 3-D transformation that registers the moving point cloud to the fixed point cloud.
For further information you can refer to the following documentation:
Register two point clouds using CPD algorithm - MATLAB pcregistercpd (mathworks.com)
Hop this Helps!
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Aadithya Iyer
Aadithya Iyer 2020-11-28
Hey Shubham,
Thanks a lot for the reply, trying to understand what you replied. I have scans of LIDAR with me.
This is a scan file of my room I am reading in Matlab:
I am getting 120 point cloud data per scan using the LIDAR. Then I moved an object in my room and scanned the room again.
My question is which data to be compared as fixed and moving in this CPD algortihm, I have two sets of point cloud datas with me, one set with everything fixed and other with an object moving.
Thank you,
Aadithya Iyer
Aadithya Iyer 2020-11-28
Can I just get one point cloud or one set of points per scan cause having 120 sets I am not sure which one to use. They all look same.

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