View source for PCL/OpenNI tutorial 3: Cloud processing (advanced)

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Most of the techniques seen in the [[PCL/OpenNI tutorial 2: Cloud processing (basic) | previous tutorial]] focused on ''preprocessing'', that is, performing certain operations on the cloud to get it ready for further analysis or work. Downsampling, removing outliers, smoothing the surfaces, estimating the normals...

This new tutorial will teach you many interesting things that can be done with point clouds after the preparation step, such as registration, segmentation and model matching.

=Registration=

Registration is the technique of matching two point clouds, like pieces of a puzzle. To be precise, the algorithm finds a set of keypoints in each cloud, computes a descriptor for each (we mentioned what descriptors were in the previous tutorial; they are like individual signatures of points), and then performs a search to see if the clouds have keypoints in common. If the answers is yes, it means that there is an area of the scene that has been captured in both clouds. A ''linear transformation'' is then computed, which outputs a matrix that contains a rotation and a translation. These are the operations that you would apply to one of the clouds so it would get in place with respect to the other.

The best results are achieved with clouds that are very similar, so you should try to minimize the transformations between them. Meaning, do not run like crazy with a Kinect in your hands, grabbing frames, and expect PCL to match the clouds. It is better to move the sensor gingerly and at steady intervals. If you use a robotic arm or a rotating tabletop with precise angles, even better.

Registration is a very useful technique because it lets you retrieve full, complete and continous models of a scene or object. It is also expensive for the CPU. Optimizations have been developed that allow to do it in real time with the GPU, like [http://pointclouds.org/documentation/tutorials/using_kinfu_large_scale.php KinFu] does.


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Go to root: [[PhD-3D-Object-Tracking]]

Links to articles:

[[PCL/OpenNI tutorial 0: The very basics]]

[[PCL/OpenNI tutorial 1: Installing and testing]]

[[PCL/OpenNI tutorial 2: Cloud processing (basic)]]

[[PCL/OpenNI tutorial 3: Cloud processing (advanced)]]

[[PCL/OpenNI troubleshooting]]