improve icp / 3d reconstruction

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improve icp / 3d reconstruction

adan
Hi,
i scanned an object so
i have 3D Point Clouds from the object. every point cloud is from another
angle of view.

When i use the ICP algorithm the clouds matches, but with every "added" new
point cloud the  result point cloud redouble. I only want to add the points,
which aren't in the first point cloud.
I want to add points bit by bit for an 3D reconstruction.

has anybody an idea, how this works?  
Any tip, how i can manage this ?



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Re: improve icp / 3d reconstruction

siddhantj
One approach I find useful is to run a box filter on the combined point
clouds. So, if there are duplicate points in the fused point cloud, you will
get rid of them. Will this approach work for you?





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Re: improve icp / 3d reconstruction

adan
Do you mean: http://docs.pointclouds.org/trunk/classpcl_1_1_crop_box.html ?

after the icp, the points of the PCs have a small distance to each other,
they lie closely to each other not exactly.
I don't know how to get only the new points to add to the first cloud

sorry for my bad english and i use the pcl for the first time.  



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Re: improve icp / 3d reconstruction

adan
This post was updated on .
maybe,
a mask over the first PC and then a ICP, after the approximation a mask over
the second PC and then remove the common intersection of point out of the
second PC - at the end merge the two clouds

how can this be done with pcl, which functions do i need ?


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Re: improve icp / 3d reconstruction

siddhantj
I meant this:
http://pointclouds.org/documentation/tutorials/voxel_grid.php

It will voxelise the point cloud and pick only one point from each voxel.

More on what is a voxel here:  https://en.wiktionary.org/wiki/voxel
<https://en.wiktionary.org/wiki/voxel>  



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