Intersection over union of two aligned point clouds

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Intersection over union of two aligned point clouds

luisloez89
Hi
Is there any way to compute the intersection over union value of two aligned point clouds? I am trying to evaluate the alignment with some models where I can find similar models with some kinds of symetry.
As an example, you can think in the alignment of point clouds from street lighting systems like the examples shown in the following image.

The intersection over unión of the right image aligned with the first will be poor even if the alignment is robust. the intersection over unión of a point cloud of the right image regarding a model of the same lighting will be strong as well as the alignment.

Thanks for your help.
Luis López Fernández
http://luislf.es/eng/
PhD Student/TIDOP research group member
Department of Cartographic and Land Engineering
University of Salamanca(Spain)
Web TIDOP: tidop.usal.es
E-mail 1: Luisloez89@usal.es
E-mail 2: Luisloez89@gmail.es
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Re: Intersection over union of two aligned point clouds

nyarbel
This post has NOT been accepted by the mailing list yet.
I am tackling this problem as well, the best I've come up with is calculate convex hull volume using the convex hull class for each cloud, then using one of the convex hull structures resulting use the crophull algorithm over that
http://docs.pointclouds.org/trunk/classpcl_1_1_crop_hull.html

the convex hull of the result will hopefully give an approximation of intersection.

the sum of previous convex hulls volume, minus the resultant volume of the copped hull is the union

Did you arrive at a better approximation?