![]() ![]() Multi-scale registration point cloud alignment point cloud registration point cloud watermarking remote sensing. However, this issue is common to the other state-of-the-art approaches. The most dangerous is an attack with noise that can be handled only to some extent. Its quite straightforward that the 3-dimensional convex hull algorithm fails, because the points projected on the plane are coplanar - by definition. The extensive experiments confirmed that the proposed approach resists the affine transformation, cropping, random point removal, and various combinations of these attacks. The watermark can then be extracted from the watermarked point cloud easily. It can be used like this: tested np.random.rand (20,3) cloud np.random.rand (50,3) print inhull (tested,cloud) If you have matplotlib installed, you can also use the following function that calls the first one and plots the results. ![]() An iterative closest point algorithm is performed after that to align the attacked watermarked point cloud to the original one completely. It returns a boolean array where True values indicate points that lie in the given convex hull. The scale and the initial rigid affine transformation between the watermarked and the original point cloud can be estimated in this way to obtain a coarse point cloud registration. A point cloud registration technique is developed, based on a 3D convex hull. In this work, an alternative approach is proposed that solves these issues efficiently. ![]() You will also need to comment out setAlpha(), as this is not applicable to convex hulls. If you would like the CONVEX hull for a plane model, just replace concave with convex at EVERY point in this tutorial, including the source file, file names and the CMakeLists.txt file. Unfortunately, they fail in the case of cropping and random point removal attacks. This tutorial is written for assuming you are looking for the CONCAVE hull. Most 3D point cloud watermarking techniques apply Principal Component Analysis (PCA) to protect the watermark against affine transformation attacks. ![]()
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