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<p class="MsoNormal">Thanks Andrew – looks like registration is their specialty. Thanks for the hint.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><b>From:</b> Andrew Bell <andrew.bell.ia@gmail.com> <br>
<b>Sent:</b> Wednesday, July 20, 2022 8:22 AM<br>
<b>To:</b> Karl Keller <Karl.Keller@kci.com><br>
<b>Cc:</b> pdal@lists.osgeo.org<br>
<b>Subject:</b> Re: [pdal] Hello Intro<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">ICP for 20M points is likely to take a really, really long time. You will probably have to do something else. You're only getting out a single transformation anyway. Perhaps you should look at the various methods provided by Open3D:<br>
<br>
<a href="http://www.open3d.org/docs/release/tutorial/pipelines/index.html">http://www.open3d.org/docs/release/tutorial/pipelines/index.html</a><o:p></o:p></p>
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<p class="MsoNormal">On Tue, Jul 19, 2022 at 10:54 AM Karl Keller <<a href="mailto:Karl.Keller@kci.com">Karl.Keller@kci.com</a>> wrote:<o:p></o:p></p>
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<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Hello PDAL community members. Not sure how to get started so I’ll tell you about my interest in PDAL.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">I’m using PDAL with the aim of building pipelines for various LIDAR processing workflows. As a first step, I’ve been trying to use ICP registration without a lot of luck. I’ve
spent time following PJHartzell’s work on this to try and get a leg up. If anyone has guidance in fast ways to automatically register relatively dense clouds in the 20M point range, I would be grateful. Right now, I use sampling before registration to get
a transform (quickly) and apply it to the full cloud. Unfortunately, I’m not achieving < 300 mm accuracy and have yet to get convergence.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto">Looking forward to interacting with this group.<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<ul type="disc">
<li class="gmail-m-3045672328251977669msolistparagraph" style="mso-list:l1 level1 lfo1">
Karl<o:p></o:p></li></ul>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif">Karl S Keller</span></b><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><i><span style="font-size:9.0pt;font-family:"Arial",sans-serif">Senior Systems Engineer</span></i><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><img border="0" width="60" height="65" style="width:.625in;height:.677in" id="gmail-m_-3045672328251977669Picture_x0020_1" src="cid:image001.png@01D89C35.B2988790">
<o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F4E79">KCI TECHNOLOGIES INC.
</span></b><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">936 Ridgebrook Road | Sparks, MD | 21152
</span><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><a href="mailto:Karl.Keller@kci.com" target="_blank"><span style="color:#0563C1">Karl.Keller@kci.com</span></a></span><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">m: 540-827-7786</span><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><a href="http://www.kci.com" target="_blank"><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#0563C1">www.kci.com</span></a><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"><img border="0" width="218" height="15" style="width:2.2708in;height:.1562in" id="gmail-m_-3045672328251977669Picture_x0020_3" src="cid:image002.jpg@01D89C35.B2988790"><o:p></o:p></p>
<p class="MsoNormal" style="mso-margin-top-alt:auto;mso-margin-bottom-alt:auto"> <o:p></o:p></p>
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<p class="MsoNormal">_______________________________________________<br>
pdal mailing list<br>
<a href="mailto:pdal@lists.osgeo.org" target="_blank">pdal@lists.osgeo.org</a><br>
<a href="https://lists.osgeo.org/mailman/listinfo/pdal" target="_blank">https://lists.osgeo.org/mailman/listinfo/pdal</a><o:p></o:p></p>
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<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal">-- <o:p></o:p></p>
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<p class="MsoNormal">Andrew Bell<br>
<a href="mailto:andrew.bell.ia@gmail.com" target="_blank">andrew.bell.ia@gmail.com</a><o:p></o:p></p>
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