visual c++ - How to compare 1 point cloud data with 1 or more point cloud data? -


i want compare point cloud data(.pcd , .ply file) 1 or more point cloud data , want similar points or patches. want know technique or algorithm has used?

what want is:

  1. feature point detection: find points on surface of point cloud have unique , descriptive neighbourhood.

  2. feature estimation: these points , neighbours (usually in spherical radius r) compute descriptor. can histogram, simple value or multi dimensional vector. depends on descriptor you're using.

  3. find correspondences: both point clouds, compare these descriptors , find matching ones (these correspondences) , try find these correspondences in way 1 point cloud fits other. reject correspondences not match.

if 2 clouds have set of matching correspondences can these 2 similiar.

i'd suggest use point clouds library (pcl). there's pretty tutorial here:

http://pointclouds.org/documentation/tutorials/correspondence_grouping.php#correspondence-grouping

also there overview of feature algorithms here (not complete though):

https://github.com/pointcloudlibrary/pcl/wiki/overview-and-comparison-of-features


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