[pdal] Hello Intro

[Howard Butler]

Karl,

You also don't probably need full density data to compute the transforms. A common approach to this is to divide and conquer by running ICP over smaller patches. Both EPT and COPC would allow you to have a data source that is amenable to controlling how to process across all of the data.

As always, parallelization is not PDAL's prerogative. Running PDAL filters with computational complexities that vary widely based on their settings is tough. PDAL doesn't know your data and cant do that adaptation in parallel. 

Howard

> On Jul 20, 2022, at 7:22 AM, Andrew Bell <andrew.bell.ia at gmail.com> wrote:
> 
> 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:
> 
> http://www.open3d.org/docs/release/tutorial/pipelines/index.html
> 
> On Tue, Jul 19, 2022 at 10:54 AM Karl Keller <Karl.Keller at kci.com> wrote:
> Hello PDAL community members.  Not sure how to get started so I’ll tell you about my interest in PDAL.
> 
>  
> 
> 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.
> 
>  
> 
> Looking forward to interacting with this group.
> 
>  
> 
> 	• Karl
>  
> 
> Karl S Keller
> 
> Senior Systems Engineer
> 
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> Karl.Keller at kci.com
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> -- 
> Andrew Bell
> andrew.bell.ia at gmail.com
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