This tutorial shows how to stitch multiple point clouds in a common coordinate system.
Assume there are three individual point clouds created and accumulated. You can initialize the module:
There is an ability to apply global transformation to all stitched points. To do this:
In reality each point cloud was captured in a different timestamp, stitching together would cause motion artifacts. To correct such distortion:
egomotion
is needed to correct the distortion based on the relative egomotion between referenceTimestamp
and individual point cloud's timestamp. Please see Relative Egomotion Workflow for egomotion usecase.
To release the module:
For more details see Point Cloud Processing Sample