Estimate Point Cloud Edges by 3D Method

Function

This Step extracts the edges of a 3D point cloud.

Usage Scenario

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

Input and Output

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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.