How to combine multiple point clouds to reconstruct object?

[axie]

Hi! Is there any way to combine multiple point cloud .ply files into one point cloud .ply file?

I collected few .ply files from different views , what I want to do is reconstructing the object with point cloud from different views.

It is something about alignment, registration, integration. I dont know how to start it.

http://docs.pointclouds.org/trunk/group__registration.html Point Cloud Library (PCL): Module registration

http://pointclouds.org/documentation/tutorials/registration_api.php# registration-api Documentation - Point Cloud Library (PCL)

I try to find code in Point Cloud Library.I am not sure how to write the code begin with those classes and brief introduction.

Is there any software like Meshlab can do such thing?

Hope someone can tell me the specific steps.Thanks a lot!

[MartyG]

In a recent RealSense webinar session about use of multiple cameras, the Intel presenter had a suggestion about combining multiple point clouds into a single cloud. They said:

"[The software] Vicalib can do this, but there is a simpler approach, which will work in 90% of cases. This is is to take the point cloud from every one of the cameras and then do an Affine Transform. Basically, just rotate and move the point clouds, in 3D space, and then once you've done that, you append the point clouds together and just have one large point cloud".

As you are aligning point clouds from multiple ply files instead of multiple cameras, the principle may be the same, as you are just using a pre-recorded data source instead of a live-streaming one.

Vicalib can be obtained from the link below if you want to use that method.

https://github.com/arpg/vicalib

In a previous webinar, Intel also mentioned the possibility of using a software platform called Open3D to combine point clouds into a 'mega point cloud'.

http://www.open3d.org/ http://www.open3d.org/

Intel are soon adding an Open3D 'wrapper' to RealSense SDK 2.0 to make integration between the SDK and Open3D easier.

[MAbom]

Hello MartyG,

What do mean by "just rotate and move the point clouds in 3D space"?

Do you mean, one should try to adjust the rotation and translation manually? and if so how? Isn't there an automated way to achieve that?

I would like to use the Vicalib software. But unfortunatelyI couldn't get it running on my windows operating system?

I would appreciate if you could provide any further ideas or suggestions!

Thanks!

Best regards

Mouhammad