ICP for organized point clouds

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ICP for organized point clouds

criatura
Hi,

     I'm using ICP with Kinect data, I have three questions :

1.- It should be faster to search the closest neightboor using the 2D
information of the depthmap (searching in a mxn neighboorhood)
instead of the  kdtree?

2.- If the response to 1. is yes, its this implemented in PCL? where I
can find information about this?

3.- I'm using an edge detector to downsample the data, for this reason
I dont want to use RANSAC, how I can disable RANSAC when using ICP?

I want to say  thanks to all the people that made this library and the
documentation.
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Re: ICP for organized point clouds

Jochen Sprickerhof
Administrator
Hi Juan,

* Juan Alfonso Reyes López <[hidden email]> [2013-12-23 16:22]:
> 1.- It should be faster to search the closest neightboor using the 2D
> information of the depthmap (searching in a mxn neighboorhood)
> instead of the  kdtree?

Yes.

> 2.- If the response to 1. is yes, its this implemented in PCL? where I
> can find information about this?

Have a look at cl_search pcl::search:OrganizedNeighbor.

> 3.- I'm using an edge detector to downsample the data, for this reason
> I dont want to use RANSAC, how I can disable RANSAC when using ICP?

AFAIR RANSAC is not part of the default ICP in PCL-1.7 anymore.

Cheers Jochen
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