Align an array point clouds
Load a point cloud view set into the workspace.
data = load('vSetPointClouds.mat'); vSet = data.vSet;
Extract the point clouds and their absolute poses from the view set.
ptClouds = vSet.Views.PointCloud; tforms = vSet.Views.AbsolutePose;
Align the point clouds using their absolute poses, and apply a 3-D box filter of size
1 to the aligned point cloud.
gridStep = 1; ptCloudMap = pcalign(ptClouds,tforms,gridStep);
Display the aligned point cloud map.
pcshow(ptCloudMap) hold on plot(vSet)
gridStep— Size of 3-D box for grid filter
Size of the 3-D box for the grid filter, specified as a positive scalar.
Increasing the value of
gridStep can reduce memory
usage by merging more points, but it can also reduce the amount of detail
If the input point clouds do not all have an assigned value for a property,
the function does not assign a value for that property in the returned point
cloud. For example, if some of the input point clouds have values for the
Color property but another one does not, then the
function does not return a value for the
Color property of
The function filters out points with