3dpoint-cloud-librarypoint-clouds

Divide a point cloud into many small surfaces in PCL

I have a point cloud with PCL.

I want to split the point cloud into many small surfaces each containing, let's say, 120 points. It's not about just making chunks of points from the cloud.

I think one way to do this is to get normals and collect approximately equal normals under one set and call this a small surface.

Is there a term for this kind of operation? Is there any predefined algorithm to do this?

Solution

  • I think that the algorithm you are looking for is called "Region growing segmentation".

    PCL has pretty nice documentation about how to use it and how it works.

    You should just need to adjust the parameters (setNumberOfNeighbours, setCurvatureThreshold, etc.) in order to get the segmentation you are looking for.