Merge two 3-D point clouds
Create a point cloud with X, Y, Z points in [0, 100].
ptCloudA = pointCloud(100*rand(1000,3));
Create a partially overlapping point cloud.
ptCloudB = pointCloud([70 20 30] + 100*rand(1000,3));
Merge the two point clouds using a box filter.
ptCloudOut = pcmerge(ptCloudA, ptCloudB, 1); pcshow(ptCloudOut);
gridStep— Size of 3-D box for grid filter
Size of 3-D box for grid filter, specified as a numeric value.
Increase the size of
gridStep when there are
not enough resources to construct a large fine-grained grid.
ptCloudOut— Merged point cloud
Merged point cloud, returned as a
pointCloud object. The function computes the axis-aligned
bounding box for the overlapped region between two point clouds. The
bounding box is divided into grid boxes of the size specified by
Points within each grid box are merged by averaging their locations,
colors, and normals. Points outside the overlapped region are untouched.
If the two point clouds do not have the same set of properties filled, such as
Normal, these properties will
be cleared in the returned point cloud. For example, if
ptCloudA has color but
does not, then
ptCloudOut will not contain color.
The function filters out points with