Find small Point Cloud in large one

After photogrammetry I have reference point cloud room.ply. Is it possible to find a location of object (small cloud) in a reference cloud?

[John D'Errico]

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With "pcregistericp" it is possible to localize a small PointCloud cropped from large one. It seems that ICP algorithm uses Locations and denies Color vectors. Correct me if I'm wrong.

[Tomyslav Sledevic]

But when I use a cloud from just another scan and try to localize it in large cloud, it not works correctly.

Answer 1

[Sai Bhargav Avula]

Hi,

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 .

https://www.mathworks.com/help/fusion/examples/track-vehicles-using-lidar.html

Hope this helps