Estimate Point Cloud Edges by 3D Method

Function

Extract the edges of a 3D point cloud.

Sample Scenario

Usually used for matching based on point cloud edges, which is faster than matching based on full point clouds.

Input and Output

Parameters

Boundary Estimations Settings

Angle Threshold

Default Value: 90

Instruction: This parameter determines whether the point is identified as a boundary point. When the boundary is relatively flat, it is recommended that the value be set to a smaller value. When the boundary is sharp, it is recommended that the value be set to a larger value. The value ranges from 0 to 360.

Neighbour Search Settings

Nearest Neighbour Search Type

Default Value: KNN

List of Values: KNN, Radius

Instruction: Search for adjacent points by selecting different ways.

• KNN: The search of adjacent points is related to the number of adjacent points.

• Radius: The proximity search is related to the search radius.

Search Number

Default Value: 20

Instruction: This parameter is used to control the size of searche numbers in the process of obtaining the boundary. The search mode takes effect when KNN is selected in Nearest Neighbour Search Type. When the value is increased, part of contour details will be ignored and the overall recognition effect is good. When the value is set to small, subtle boundary details are displayed, some of them are invalid boundary.

Search Radius

Default Value: 0.0050

Instruction: This parameter determines the size of the search radius in the process of obtaining the boundary. The search mode takes effect when Radius is selected in Nearest Neighbour Search Type. When the value is increased, the search Radius becomes larger, resulting in fewer detected contours but better overall recognition effect. When the value is set to small, the search radius becomes smaller and subtle contour information can be detected.

Speed Up

Apply GPU

Default Value: False

List of Values: True, False

Instruction: This parameter controls whether to enable GPU acceleration.