pglira / point_cloud_tools_for_matlab Goto Github PK

hello! I an a newer to deal with point Cloud data in matlab, I attempt to plot point clouds, but the error occured, showing that the class pointCloud didn't have the plot function. I checked the matlab help, it shows that the pointCloud class really own the plot function. Why many reference matlab code use the pointCloud.plot function? Should I download another source of class pintCloud?

I get the following error:

Warning: The JavaFrame figure property will be removed in a future release. For more information see UI
Alternatives for MATLAB Apps on mathworks.com. 
> In maximize
In runICPPlot (line 68)
In globalICP/runICP (line 245)
In pointcloud_align (line 38) 

running Matlab R2021a

Hello.
When the 'SubsetRadius' parameter is used in the RunICP method I get the following error:

No appropriate method, property, or field 'rangesearch' for class 'pointCloud'.

Error in runICPSubsets (line 17)
idxRangeSearch = PC{i}.rangesearch(allQP, p.SubsetRadius);

Error in globalICP/runICP (line 219)
[g, PC] = runICPSubsets(obj, p, g, PC);

Error in testICPPhilipGira (line 175)
icp.runICP(ICPOptions);

It looks like you are using some library that contains that function. Where is located that function?
Thanks in advance.

Hi, Philipp,
I was trying to use this tool to registration several points clouds from roadside laser scanning system. The file format is .csv. I got the following errors when I implemented the command runICP as follows:

I tried to adjust the parameter UniformSamplingDistance to different values, and I still got similar errors.

Can you please give me some clues? Thanks

hello! I an a newer to deal with point Cloud data in matlab, I attempt to read a .pcd file as following:
ptCloud = pcread('C:\Program Files\Polyspace\R2020b\MyProjects\data\bun0.pcd');
the error happend:
" input_ply_pcd
索引超出数组元素的数目(0)。

出错 pcread (第 238 行)
X = [allData{1} allData{2} allData{3}]; % points

出错 input_ply_pcd (第 4 行)
ptCloud = pcread('C:\Program Files\Polyspace\R2020b\MyProjects\data\bun0.pcd');
"
how can I solve this problem？thank you !

Hello,

thank you for this excellent library.

I am facing a challenge. I need a way to visualize the corresponding pairs (between the two point clouds), to verify their accuracy.

Because I am getting an alignment between two point clouds that is not accurate and I want to improve it, but first I want to make sure that the matches are accurate.

How would this be possible using this library?

Thank you for your help.

Hello again.

I am trying to align two relatively close point clouds, captured using Kinect v1 and I am having a hard time achieving it using GlobalICP.

I'd like some help with the various parameters that can be adjusted.

Currently I have adjusted HullVoxelSize to be 0.25 and the output says "Overlapping voxels 348". Is this a logical value for my kind of scene? (See screenshot below)

Also UniformSamplingDistance has been adjusted to be 0.25 to increase the number of correspondences found. Because otherwise I got an exception like the following:
GLOBALICP > RUNICP > ICP ITERATION 4 OF 10 > MINIMIZATION : attention, point cloud [1] has only 4 correspondences!

And increasing MaxNoIt does not seem to improve the alignment.

Here you can see the 2 point clouds that I want to align before and after GlobalICP:

Thank you for your help and time.

Hi,

First of all, thank you very much for your great job! This are very nice tools :)

I want to export the point clouds with as .txt or .xyz and for that purpose I'm trying to use the parameter 'OutputFormat' as you indicate in the documentation.
Here is the line where I use it:
icp = globalICP('OutputFolder', 'H:\pycpd-master\data\output', 'TempFolder', 'H:\pycpd-master\data\output\temp', 'OutputFormat', 'xyz');

But when I execute the code it returns me this error:
Error using globalICP (line 95)
'OutputFormat' is not a recognized parameter. For a list of valid name-value pair arguments, see the documentation for this
function.

Error in ALStest (line 5)
icp = globalICP('OutputFolder', 'H:\pycpd-master\data\output', 'TempFolder', 'H:\pycpd-master\data\output\temp', 'OutputFormat',
'xyz');

Am I doing something wrong?

Thank you very much in advance!

I am getting following error while executing command to make a point cloud.

pc = pointCloud('Lion.xyz');
pc.plot;
Error using pointCloud
Error: File: pointCloud.m Line: 403 Column: 9
A constructor call to superclass KDTreeSearcher appears after the object is used, or after a return.

I am using ubuntu 14.04.