<div dir="ltr">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><br></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Tue, Jul 19, 2022 at 10:54 AM Karl Keller <<a href="mailto:Karl.Keller@kci.com">Karl.Keller@kci.com</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex">
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<p class="MsoNormal">Hello PDAL community members. Not sure how to get started so I’ll tell you about my interest in PDAL.<u></u><u></u></p>
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<p class="MsoNormal">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.<u></u><u></u></p>
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<p class="MsoNormal">Looking forward to interacting with this group.<u></u><u></u></p>
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<li class="gmail-m_-3045672328251977669MsoListParagraph" style="margin-left:0in">Karl<u></u><u></u></li></ul>
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<p class="MsoNormal"><b><span style="font-size:10pt;font-family:Arial,sans-serif">Karl S Keller<u></u><u></u></span></b></p>
<p class="MsoNormal"><i><span style="font-size:9pt;font-family:Arial,sans-serif">Senior Systems Engineer<u></u><u></u></span></i></p>
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<p class="MsoNormal"><b><span style="font-size:10pt;font-family:Arial,sans-serif;color:rgb(31,78,121)">KCI TECHNOLOGIES INC.
<u></u><u></u></span></b></p>
<p class="MsoNormal"><span style="font-size:10pt;font-family:Arial,sans-serif;color:black">936 Ridgebrook Road | Sparks, MD | 21152
<u></u><u></u></span></p>
<p class="MsoNormal"><span style="font-size:10pt;font-family:Arial,sans-serif"><a href="mailto:Karl.Keller@kci.com" target="_blank"><span style="color:rgb(5,99,193)">Karl.Keller@kci.com</span></a></span><u><span style="color:rgb(5,99,193)"><u></u><u></u></span></u></p>
<p class="MsoNormal"><span style="font-size:10pt;font-family:Arial,sans-serif;color:black">m: 540-827-7786</span><span style="color:black"><u></u><u></u></span></p>
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</blockquote></div><br clear="all"><div><br></div>-- <br><div dir="ltr" class="gmail_signature">Andrew Bell<br><a href="mailto:andrew.bell.ia@gmail.com" target="_blank">andrew.bell.ia@gmail.com</a></div>