Easy3DMatchPointCloudMerger

Support
Required licenses	Easy3DMatch
Recommended images	The images from the folder Sample Images/3D/Easy3DMatch/E3DMatchPointCloudMerger
Location	3D Processing/Easy3DMatchPointCloudMerger

Purpose

This sample program demonstrates how to:

• Merge several point clouds by using a calibration procedure with a specific object.

Code highlights

Use the recommended images:

• Calibration: the 4 calibration_* files.

• Sample: either the 4 object2_* or the 4 shoe_* files.

1. Calibrate the merger from the calibration clouds.

   • You must indicate the size of the calibration cube in the clouds.

   • A calibration error is returned.

   float error = merger_.Calibrate(calibrationClouds_, cubeSize, true);
   

2. Merge the calibration clouds in a single cloud representing the calibration object.

   Note

   This is optional and it is done in the sample program for visualization purposes.

   merger_.Merge(calibrationClouds_, mergedCalibration_);
   

3. Merge the sample clouds in a single cloud representing the sample object.

   merger_.Merge(sampleClouds_, mergedSamples_);