check if a point belongs to a point cloud?

Hi there,

Is there any method to check if a point belongs to a point cloud? Thanks

Answer 1

[Rushil]

Hello

I assume that you are making use of “pointCloud” object from Computer Vision Toolbox. In order to check whether a given point belongs to a point cloud, you can make use of the “findNearestNeighbors” function, which finds the node in the point cloud nearest to the query point. Then check if the distance is less than a certain threshold to determine whether it belongs to the point cloud. Below is implementation for the same:

data = [1, 2, 3; 4, 5, 6; 7, 8, 9]; % some point cloud data 
ptCloud = pointCloud(data); 
qpt = [4, 5, 6]; % point you want to check (query point)

[idx,dist] = findNearestNeighbors(ptCloud,qpt,1); 
threshold = 0.01; % a threshold for "belonging" to the point cloud 
isPointInCloud = dist < threshold; 

disp(isPointInCloud); 

You can read more about “findNearestNeighbors” here:

https://www.mathworks.com/help/vision/ref/pointcloud.findnearestneighbors.html