organized pointcloud vs. reducing number of points?

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organized pointcloud vs. reducing number of points?

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i have a live pointcloud (no color) from kinect v2. this pointcloud is organized, but has a lot of nan values. which task is better for the following tool chain:

a) give up "organized" and remove all nan values. my thought: reducing the number of all points reduces the loop time for many following filter, etc.

b) keep the pointcloud "organized" and don't remove nan values. my thought: as mentionend in the tutorial here an organized pointcloud is lowering the costs for algorithms too.

which way is better? faster?

my overall task is real-time object recognition of an solid object, which geometry is well known.