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Hello, I have a UAV structure from motion point cloud which has lots of low lying shrubs and am trying to classify ground and vegetation. So far the CANUPO filter does an ok job, considering the challenging study area.

I am wondering, my point cloud has rgb values associated with it, does CANUPO consider this data when performing the classification? Or is there another method which will consider my rgb data?

Thanks.

No, the standard version of Canupo doesn't take it into account (it only relies on the geometry).

If you were able to modify the code and compile Canupo yourself, you could take a look at the 'QCANUPO_COMPILE_PRIVATE_METHODS' option in CMake. This let you define your own 'dimensionality' descriptor (for instance in the code there's an alternate descriptor based on scalar fields).