Point Cloud Sampling by Regular Distance

Recently I had implment findNearestNeighbors from matlab toolbox. But instead of searching by K — Number of nearest neighbors, can it be specific distance from the query point? Like for example export the points 1cm apart from query point for individually compare with best fit plane?

Another question is that if I need to loop through every point of the point cloud to do the query. Is there any kd/octree operation needed? I can't imagine how matlab is running 10million of loop and do plane fitting afterwards.

Thanks guys

[darova]

[John D'Errico]

what question is there in this about MATLAB?

[Focal]

Wondering if there are any methods to find point cloud's nearest neighbour by a certain dimensions. Such as 1cm instead of number of nearest neighbour.

Answer 1

[Sanjana]

Hi Focal,

I understand that you are looking for functions to find "nearest neighbours" in a pointCloud at certain distance from a point.

You can use the "findNeighboursinRadius" function to find indices of the points at a certain distance from a point, and then use "select" function to select obtained points in the input pointCloud.

Refer to the following example, for more information

https://www.mathworks.com/help/vision/ref/pointcloud.findneighborsinradius.html#buph2h4-1_sep_mw_4476dfe4-e1da-412c-87dc-f1f2d87d1a6e

Hope this helps!