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Assume you would like to quickly find additive changes in the scene. For example you have a static point cloud of empty carpark, and would like to extract the parked cars from a stream of lidar data. If the extraction does not have to be perfect, a quick way of doing it would be using points-join --not-matching.

> # make sample point clouds
> for i in {20..30}; do for j in {0..50}; do for k in {0..50}; do echo $i,$j,$k; done; done; done > 1.csv
> for i in {0..50}; do for j in {20..30}; do for k in {20..30}; do echo $i,$j,$k; done; done; done > 2.csv
> cat 1.csv | points-join 2.csv --radius 0.51 --not-matching | view-points "1.csv;colour=red;hide;title=subtrahend" "2.csv;colour=yellow;hide;title=minuend" "-;colour=white;title=difference"

 

Of course, for more sophisticated change detection in point clouds, which is more accurate and takes into account view points, occlusions, additions and deletions of objects in the scene, etc, you could use points-detect-change.

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